A KDE-based depth outlier rejection step improves RGB segmentation mask precision and downstream panoptic volumetric mapping quality.
On advantages of mask-level recognition for outlier-aware segmentation,
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Volumetric Mapping with Panoptic Refinement via Kernel Density Estimation for Mobile Robots
A KDE-based depth outlier rejection step improves RGB segmentation mask precision and downstream panoptic volumetric mapping quality.