Chapter 12: Semantic scene segmentation for robotics
Juana Valeria Hurtado; Abhinav Valada Department of Computer Science, University of Freiburg, Freiburg, Germany
Abstract
Comprehensive scene understanding is a critical enabler of robot autonomy. Semantic segmentation is one of the key scene understanding tasks, which is pivotal for several robotics applications including autonomous driving, domestic service robotics, last mile delivery, among many others. Semantic segmentation is a dense prediction task that aims to provide a scene representation in which each pixel of an image is assigned a semantic class label. Therefore semantic segmentation considers the full scene context, incorporating the object category, location, and shape of all ...
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