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Semantic Labeling of Indoor Environments from 3D RGB Maps

Brucker, Manuel and Durner, Maximilian and Marton, Zoltan-Csaba and Ambrus, Rares and Wendt, Axel and Jensfelt, Patric and Kai, O. Arras and Triebel, Rudolph (2018) Semantic Labeling of Indoor Environments from 3D RGB Maps. In: Proceedings - IEEE International Conference on Robotics and Automation. IEEE International Conference on Robotics and Automation, Brisbane, Australien.

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Official URL: https://ieeexplore.ieee.org/document/8462922/

Abstract

We present an approach to automatically assign semantic labels to rooms reconstructed from 3D RGB maps of apartments. Evidence for the room types is generated using state-of-the-art deep-learning techniques for scene classification and object detection based on automatically generated virtual RGB views, as well as from a geometric analysis of the map's 3D structure. The evidence is merged in a conditional random field, using statistics mined from different datasets of indoor environments. We evaluate our approach qualitatively and quantitatively and compare it to related methods.

Item URL in elib:https://elib.dlr.de/121735/
Document Type:Conference or Workshop Item (Poster)
Title:Semantic Labeling of Indoor Environments from 3D RGB Maps
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Brucker, ManuelManuel.Brucker (at) dlr.dehttps://orcid.org/0000-0001-6370-2753
Durner, Maximilianmaximilian.durner (at) dlr.dehttps://orcid.org/0000-0001-8885-5334
Marton, Zoltan-CsabaZoltan.Marton (at) dlr.dehttps://orcid.org/0000-0002-3035-493X
Ambrus, Raresraambrus (at) kth.seUNSPECIFIED
Wendt, Axelaxel.wendt (at) bosch.comUNSPECIFIED
Jensfelt, Patricpatric (at) kth.seUNSPECIFIED
Kai, O. ArrasKaiOliver.Arras (at) de.bosch.comUNSPECIFIED
Triebel, RudolphRudolph.Triebel (at) dlr.dehttps://orcid.org/0000-0002-7975-036X
Date:2018
Journal or Publication Title:Proceedings - IEEE International Conference on Robotics and Automation
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Status:Published
Keywords:Semantics, Labeling, Three-dimensional displays, Robots, Training, Task analysis, Solid modeling
Event Title:IEEE International Conference on Robotics and Automation
Event Location:Brisbane, Australien
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Brucker, Manuel
Deposited On:29 Nov 2018 15:50
Last Modified:29 Nov 2018 15:50

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