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We present MaskFusion, a real-time, object-aware, semantic and dynamic RGB-D SLAM system that goes beyond traditional systems which output a purely geometric map of a static scene.
Surfels: Surface elements as rendering primitives
Hanspeter Pfister, Matthias Zwicker, Jeroen van Baar, and Markus Gross · 2000
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Multi-view scene capture by surfel sampling: From video streams to non-rigid 3d motion, shape and reflectance
Rodrigo L Carceroni and Kiriakos N Kutulakos · 2002
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Real-time simultaneous localisation and mapping with a single camera
Andrew J Davison · 2003
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Discriminative learning of markov random fields for segmentation of 3d scan data
Dragomir Anguelov, B Taskarf, Vassil Chatalbashev, Daphne Koller, Dinkar Gupta, Geremy Heitz, and Andrew Ng · 2005
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Towards simultaneous recognition, localization and mapping for hand-held and wearable cameras
Robert Oliver Castle, Darren J Gawley, Georg Klein, and David W Murray · 2007
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Parallel tracking and mapping for small ar workspaces
Georg Klein and David Murray · 2007
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Simultaneous localization, mapping and moving object tracking
Chieh-Chih Wang, Charles Thorpe, Sebastian Thrun, Martial Hebert, and Hugh Durrant-Whyte · 2007
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A benchmark for 3d mesh segmentation
Xiaobai Chen, Aleksey Golovinskiy, and Thomas Funkhouser · 2009
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Segmentation of 3d lidar data in non-flat urban environments using a local convexity criterion
F. Moosmann, O. Pink, and C. Stiller · 2009
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In-hand scanning with online loop closure
Thibaut Weise, Thomas Wismer, Bastian Leibe, and Luc Van Gool · 2009
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Using context to create semantic 3d models of indoor environments
Xuehan Xiong and Daniel Huber · 2010
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Towards semantic slam using a monocular camera
Javier Civera, Dorian Gálvez-López, Luis Riazuelo, Juan D Tardós, and JMM Montiel · 2011
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Structure discovery in multi-modal data: A region-based approach
A. Collet, S. S. Srinivasay, and M. Hebert · 2011
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Semantic labeling of 3d point clouds for indoor scenes
Hema S. Koppula, Abhishek Anand, Thorsten Joachims, and Ashutosh Saxena · 2011
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Kinectfusion: Real-time dense surface mapping and tracking
R. A. Newcombe, S. Izadi, O. Hilliges, D. Molyneaux, D. Kim, A. J. Davison, P. Kohli, J. Shotton, S. Hodges, and A. W. Fitzgibbon · 2011
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Dtam: Dense tracking and mapping in real-time
Richard A Newcombe, Steven J Lovegrove, and Andrew J Davison · 2011
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Rgb-d mapping: Using kinect-style depth cameras for dense 3d modeling of indoor environments
Peter Henry, Michael Krainin, Evan Herbst, Xiaofeng Ren, and Dieter Fox · 2012
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Indoor segmentation and support inference from rgbd images
Pushmeet Kohli Nathan Silberman, Derek Hoiem and Rob Fergus · 2012
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Moving volume kinectfusion
Henry Roth and Marsette Vona · 2012
Cited alongside, same era.
A benchmark for the evaluation of rgb-d slam systems
Jürgen Sturm, Nikolas Engelhard, Felix Endres, Wolfram Burgard, and Daniel Cremers · 2012
Cited alongside, same era.
3d scene segmentation for autonomous robot grasping
Andre Ückermann, Christof Elbrechter, Robert Haschke, and Helge Ritter · 2012
Cited alongside, same era.
Kintinuous: Spatially extended kinectfusion
T. Whelan, J. B. McDonald, M. Kaess, M. Fallon, H. Johannsson, and J. J. Leonard · 2012
Cited alongside, same era.
Patch volumes: Segmentation-based consistent mapping with rgb-d cameras
P. Henry, D. Fox, A. Bhowmik, and R. Mongia · 2013
Cited alongside, same era.
Object discovery in 3d scenes via shape analysis
Andrej Karpathy, Stephen Miller, and Li Fei-Fei · 2013
Cited alongside, same era.
Real-time and scalable incremental segmentation on dense slam
K. Tateno, F. Tombari, and N. Navab · 2015
Later among the works it cites.
ElasticFusion: Dense SLAM without a pose graph
T. Whelan, S. Leutenegger, R. F. Salas-Moreno, B. Glocker, and A. J. Davison · 2015
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Fusion4d: Real-time performance capture of challenging scenes
M. Dou, S. Khamis, Y. Degtyarev, P. Davidson, S. Fanello, A. Kowdle, S. Orts Escolano, C. Rhemann, D. Kim, J. Taylor, P. Kohli, V. Tankovich, and S. Izadi · 2016
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Deep residual learning for image recognition
Kaiming He, Xiangyu Zhang, Shaoqing Ren, and Jian Sun · 2016
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Volumedeform: Real-time volumetric non-rigid reconstruction
Matthias Innmann, Michael Zollhöfer, Matthias Nießner, Christian Theobalt, and Marc Stamminger · 2016
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Learning to refine object segments
P. O. Pinheiro, T.-Y. Lin, R. Collobert, and P. Dollár · 2016
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Real-time 3d reconstruction in dynamic scenes using point-based fusion
M. Keller, D. Lefloch, M. Lambers, S. Izadi, T. Weyrich, and A. Kolb · 2013
Cited alongside, same era.
Dense visual slam for rgb-d cameras
C. Kerl, J. Sturm, and D. Cremers · 2013
Cited alongside, same era.
Slam++: Simultaneous localisation and mapping at the level of objects
Renato F Salas-Moreno, Richard A Newcombe, Hauke Strasdat, Paul HJ Kelly, and Andrew J Davison · 2013
Cited alongside, same era.
Coslam: Collaborative visual slam in dynamic environments
Danping Zou and Ping Tan · 2013
Cited alongside, same era.
Efficient incremental map segmentation in dense rgb-d maps
Ross Finman, Thomas Whelan, Michael Kaess, and John J. Leonard · 2014
Cited alongside, same era.
Dense 3d semantic mapping of indoor scenes from rgb-d images
A. Hermans, G. Floros, and B. Leibe · 2014
Cited alongside, same era.
Later among the works it cites.
When 2.5d is not enough: Simultaneous reconstruction, segmentation and recognition on dense slam
K. Tateno, F. Tombari, and N. Navab · 2016
Later among the works it cites.
Simultaneous localization and mapping in dynamic scenes
Ioan Andrei Barsan · 2017
Later among the works it cites.
Yale-cmu-berkeley dataset for robotic manipulation research
Berk Calli, Arjun Singh, James Bruce, Aaron Walsman, Kurt Konolige, Siddhartha Srinivasa, Pieter Abbeel, and Aaron M Dollar · 2017
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Scannet: Richly-annotated 3d reconstructions of indoor scenes
Angela Dai, Angel X. Chang, Manolis Savva, Maciej Halber, Thomas Funkhouser, and Matthias Nießner · 2017
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Mask r-cnn
Kaiming He, Georgia Gkioxari, Piotr Dollar, and Ross Girshick · 2017
Later among the works it cites.
Fast odometry and scene flow from rgb-d cameras based on geometric clustering
Mariano Jaimez, Christian Kerl, Javier Gonzalez-Jimenez, and Daniel Cremers · 2017
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Fully convolutional instance-aware semantic segmentation
Yi Li, Haozhi Qi, Jifeng Dai, Xiangyang Ji, and Yichen Wei · 2017
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Semanticfusion: Dense 3d semantic mapping with convolutional neural networks
J. McCormac, A. Handa, A. Davison, and S. Leutenegger · 2017
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Co-fusion: Real-time segmentation, tracking and fusion of multiple objects
Martin Rünz and Lourdes Agapito · 2017
Later among the works it cites.
Cnn-slam: Real-time dense monocular slam with learned depth prediction
K. Tateno, F. Tombari, I. Laina, and N. Navab · 2017
Later among the works it cites.
https://github.com/matterport/Mask_RCNN
Matterport implementation of mask-rcnn · 2018
Closest in time.
StaticFusion: Background reconstruction for dense RGB-D SLAM in dynamic environments
Raluca Scona, Mariano Jaimez, Yvan R. Petillot, Maurice Fallon, and Daniel Cremers · 2018
Closest in time.