Comments (6)
Hey @xdtzzz, thanks for using our code.
The noisy map results may be caused by the wrong prediction and inaccurate poes estimation.
For example, the points of a car were predicted to be both car (blue) and house (yellow) in the segmentation results.
When aggregating all the predictions together, it will become more obvious.
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from semantic_suma.
Q: Do you mean that SuMa++ needs very good semantic segmentation results to work well?
A: Yes, SuMa++ itself can not improve the semantic segmentation results, but only use the semantics to improve the SLAM results. Wrong predictions will lead to a wrong semantic map. We originally use RangeNet++ which achieved an IOU of 52.2 and worked well. The segmentation results seem not as good as the original RangeNet++. What's your segmentation performance in terms of IOU? The current SOTA one is of IOU 70, and you may use the SOTA semantics to get a better semantic map.
是的,SuMa++对semantic segmentation本身是没有提升的,只是利用语义信息来提高SLAM的精度,如果语义信息不准,语义地图也是会不准的。
原文用的rangenet++的IOU是52.2是可以工作的,当前的语义分割结果似乎比原文差,请问现在语义分割的IOU精度是多少? 目前性能最好的语义分割算法性能是70IOU,可以尝试使用更好的语义分割算法。
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我现在语义分割的iou精度挺高的,因为标注的类别比较少,平均达到了0.8以上
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Results on rangenet++, most of them are correct. But on suma++, there are many wrong semantic points. For example, the ground points build on the top of the wall on suma++, but on rangenet++, the wall doesn't have ground points.
rangenet++:
suma++:
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where is "reopen" button.... # @Chen-Xieyuanli
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Related Issues (20)
- (error)
- What is the role of rosnode in the visualization window? HOT 2
- the question about the part of code !! HOT 1
- `SyntaxError: invalid syntax`. HOT 3
- Formula error(Efficient Surfel-Based SLAM using 3D Laser Range Data in Urban Environments formula 10) HOT 2
- different result with Disks mode HOT 1
- Pls, how do I save the global map? HOT 4
- The problem when i catkin deps fetch HOT 2
- the real-time performance? HOT 1
- i can not save pose HOT 3
- savepose HOT 1
- save poses HOT 7
- There are some issues with dynamic object culling HOT 1
- error when ./visualizer HOT 1
- The result of semantic segmentation seems incorrect
- 对‘glow::glTranslate(float, float, float)’未定义的引用 HOT 7
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