A passage-aware structural mapping approach for RGB-D VSLAM detects doors and openings via joint geometric-semantic-topological fusion and adds passage abstractions to vS-Graphs scene graphs.
PS-SLAM: A Visual SLAM for Semantic Mapping in Dynamic Outdoor Environment using Panoptic Segmentation
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Passage-Aware Structural Mapping for RGB-D Visual SLAM
A passage-aware structural mapping approach for RGB-D VSLAM detects doors and openings via joint geometric-semantic-topological fusion and adds passage abstractions to vS-Graphs scene graphs.