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Reconstruction of 3D Semantic Map and Its Quality Estimation

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Proceedings of the Sixth International Scientific Conference “Intelligent Information Technologies for Industry” (IITI’22) (IITI 2022)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 566))

Abstract

Algorithms for reconstruction of three-dimensional semantic maps are an important element of on-board vehicle computer vision systems. Such maps can be used in simulation environments and to generate the so-called HD maps needed for path planning and vehicle navigation. The paper presents an analysis of modern methods for semantic map reconstruction based on sequences of 3D point clouds, including noisy ones. The Kimera Semantics method, modified approaches VDB Fusion, Puma and ALeGO-LOAM with Interactive SLAM are compared. We have developed a novel approach for quantitatively estimation the quality of 3D maps and successfully applied it using the open dataset SemanticKITTI. It allows us to take into account the features of generated 3D map mesh and semantic labels in order to obtain a more informative metric.

This work was supported by the Russian Science Foundation, project no. 21-71-00131 https://rscf.ru/project/21-71-00131/.

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Notes

  1. 1.

    https://github.com/cds-mipt/SAMM.git.

  2. 2.

    https://numpy.org/.

  3. 3.

    http://www.open3d.org/.

  4. 4.

    https://github.com/mikedh/trimesh.

  5. 5.

    https://github.com/fwilliams/point-cloud-utils.

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Authors and Affiliations

  1. Moscow Institute of Physics and Technology (National Research University), Institutskiy Per., 9, Dolgoprudny, Moscow Region, 141701, Russian Federation

    Vitaly Bezuglyj & Dmitry Yudin

Authors
  1. Vitaly Bezuglyj
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  2. Dmitry Yudin
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Corresponding author

Correspondence to Vitaly Bezuglyj .

Editor information

Editors and Affiliations

  1. Rostov State Transport University, Rostov-on-Don, Russia

    Sergey Kovalev

  2. Rostov State Transport University, Rostov-on-Don, Russia

    Andrey Sukhanov

  3. Southern University (IMBL), Rostov-on-Don, Russia

    Imran Akperov

  4. Istinye University, Sarıyer, Istanbul, Turkey

    Sebnem Ozdemir

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Bezuglyj, V., Yudin, D. (2023). Reconstruction of 3D Semantic Map and Its Quality Estimation. In: Kovalev, S., Sukhanov, A., Akperov, I., Ozdemir, S. (eds) Proceedings of the Sixth International Scientific Conference “Intelligent Information Technologies for Industry” (IITI’22). IITI 2022. Lecture Notes in Networks and Systems, vol 566. Springer, Cham. https://doi.org/10.1007/978-3-031-19620-1_31

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