DA-RNN: 带数据关联的循环神经网络实现语义映射

Mar, 2017

DA-RNN: 带数据关联的循环神经网络实现语义映射

DA-RNN: Semantic Mapping with Data Associated Recurrent Neural Networks

Yu Xiang, Dieter Fox

TL;DR本文提出了一种数据关联递归神经网络（DA-RNNs）的新框架，它可以将RGB-D视频的语义标记与KinectFusion等拓扑映射技术相结合，从而将RGB-D视频的语义信息注入重建的3D场景中，实现了对三维场景地图与语义标记的联合理解。实验结果表明，这种方法在语义3D场景映射方面具有良好的性能。

Abstract

3d scene understanding is important for robots to interact with the 3D world in a meaningful way. Most previous works on 3d scene understanding focus on recognizing geometrical or semantic properties of the scene