GenPa-SLAM: Using a General Panoptic Segmentation for a Real-Time Semantic Landmark SLAM.
Lukas BeerThorsten LuettelHans-Joachim WuenschePublished in: ITSC (2022)
Keyphrases
- visual slam
- real time
- simultaneous localization and mapping
- mobile robot
- monocular slam
- camera tracking
- visual odometry
- special case
- dynamic environments
- particle filter
- segmentation algorithm
- image segmentation
- monocular camera
- indoor environments
- segmentation method
- level set
- data association
- real time tracking
- multibody
- medical images
- robot moves
- ego motion
- mobile robotics
- object segmentation
- outdoor environments
- augmented reality
- loop closing
- image registration