3D Semantic VSLAM of Indoor Environment Based on Mask Scoring RCNN

<div>Key frame reconstruction in submaps. (a) Local image of four segments of experiments. (b) Local image of four segments of experiments after being constructed.</div>

Discrete Dynamics in Nature and Society

fig2

Figure 2

Figure 2: 3D Semantic VSLAM of Indoor Environment Based on Mask Scoring RCNN 