Incremental Instance-Oriented 3D Semantic Mapping via RGB-D Cameras for Unknown Indoor Scene

Figure 1

Overview of our incremental instance-level 3D scene reconstruction method. From continuous frames of an RGB-D sensor, our system performs on-the-fly reconstruction and 3D semantic prediction. All of our processing is performed on a frame-by-frame basis in an online fashion, thereby making it useful for real-time applications.