Lightweight Semantic Mesh Mapping for Autonomous Vehicles
Markus Herb Tobias Weiherer Nassir Navab Federico Tombari Markus Herb Tobias Weiherer Nassir Navab Federico Tombari
Lightweight and semantically meaningful environment maps are crucial for many applications in robotics and autonomous driving to facilitate higher-level tasks such as navigation and planning. In this paper we present a novel approach to incrementally build a meaningful and lightweight semantic map directly as a 3D mesh from a monocular or stereo sequence. Our system leverages existing feature-base...