{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/visual-semantic-slam-with-landmarks-for-large","title":"Visual Semantic SLAM with Landmarks for Large-Scale Outdoor Environment","arxiv_id":"2001.01028","date":"2020-01-04","proceeding":null,"authors":["Zirui Zhao","Yijun Mao","Yan Ding","Pengju Ren","Nanning Zheng"],"abstract":"Semantic SLAM is an important field in autonomous driving and intelligent agents, which can enable robots to achieve high-level navigation tasks, obtain simple cognition or reasoning ability and achieve language-based human-robot-interaction. In this paper, we built a system to creat a semantic 3D map by combining 3D point cloud from ORB SLAM with semantic segmentation information from Convolutional Neural Network model PSPNet-101 for large-scale environments. Besides, a new dataset for KITTI sequences has been built, which contains the GPS information and labels of landmarks from Google Map in related streets of the sequences. Moreover, we find a way to associate the real-world landmark with point cloud map and built a topological map based on semantic map.","url_abs":"https://arxiv.org/abs/2001.01028v1","url_pdf":"https://arxiv.org/pdf/2001.01028v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"visual-semantic-slam-with-landmarks-for-large","repo_url":"https://github.com/1989Ryan/Semantic_SLAM","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"tf","reach":null}],"tasks":[{"task_slug":"autonomous-driving","task_name":"Autonomous Driving"},{"task_slug":"semantic-slam","task_name":"Semantic SLAM"},{"task_slug":"semantic-segmentation","task_name":"Semantic Segmentation"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}