Evaluating the Impact of Semantic Segmentation and Pose Estimation on Dense Semantic SLAM

27 September 2021
Suman BistaDavid HallBen TalbotHaoyang ZhangFeras DayoubNiko Sünderhauf
Results from comparing Semantic SLAM methods

Recent Semantic SLAM methods combine classical geometry-based estimation with deep learning-based object detection or semantic segmentation. In this paper we evaluate the quality of semantic maps generated by state-of-the-art class-and instance-aware dense semantic SLAM algorithms whose codes are publicly available and explore the impacts both semantic segmentation and pose estimation have on the quality of semantic maps. We obtain these results by providing algorithms with ground-truth pose and/or semantic segmentation data available from simulated environments. We establish that semantic segmentation is the largest source of error through our experiments, dropping mAP and OMQ performance by up to 74.3% and 71.3% respectively.

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