Technology of Graphic & Image
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App. Res. of Comp. Printed Article
Vol. 39, 2022 No. 11
3481-3486

Indoor semantic map construction integrated with RGB-D semantic segmentation network

Song Xin
Zhang Rongfen
Liu Yuhong
College of Big Data & Information Engineering, Guizhou University, Guiyang 550025, China
DOI: 10.19734/j.issn.1001-3695.2022.04.0178

Abstract

In order to solve the problems that traditional visual SLAM networks have low accuracy and poor speed and lack semantic information, this paper proposed a novel RGB-D semantic segmentation network. The network used the depth information which less affected by the light in indoor scenes to improve the accuracy of segmentation, and meanwhile designed the lightweight multi-scale residual module(MRAM) and atrous spatial pyramid pooling(ASPP) module to lightweight the segmentation network and improve the segmentation accuracy. Firstly, the input image sequences entered the ORB-SLAM2 network to obtain keyframes. Then, the keyframes went into the proposed semantic segmentation network to get the 2D semantic label, and then it mapped the 2D semantic information to 3D pointcloud space. Finally, the method used the Bayesian algorithm to update the 3D map to obtain the globally consistent 3D pointcloud semantic map. The experiments adopted NYUv2 dataset to verify the performance of semantic segmentation network, and adopted TUM dataset construct pointcloud semantic map. The results show that the performance and speed of the semantic segmentation network in this paper are better than the existing models, and the combination of semantic segmentation network with visual SLAM can meet the requirements of constructing 3D dense semantic pointcloud map accurately and quickly.

Foundation Support

贵州省科学技术基金资助项目(黔科合基础-ZK［2021］重点001)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2022.04.0178
Publish at: Application Research of Computers Printed Article, Vol. 39, 2022 No. 11
Section: Technology of Graphic & Image
Pages: 3481-3486
Serial Number: 1001-3695(2022)11-046-3481-06

Publish History

[2022-06-18] Accepted Paper
[2022-11-05] Printed Article

Cite This Article

宋鑫, 张荣芬, 刘宇红. 集成RGB-D语义分割网络的室内语义地图构建 [J]. 计算机应用研究, 2022, 39 (11): 3481-3486. (Song Xin, Zhang Rongfen, Liu Yuhong. Indoor semantic map construction integrated with RGB-D semantic segmentation network [J]. Application Research of Computers, 2022, 39 (11): 3481-3486. )

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  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

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