Scene Semantic Reconstruction from Egocentric …

Scene Semantic Reconstruction from Egocentric RGB-D-Thermal VideosRachel Luo, Ozan Sener, and Silvio SavareseStanford University{rsluo, osener, RGB-Depth-Thermal streamRGBD epthThermal*EnvironmentLeft handRight handObject in InteractionGeometric UnderstandingSemantic UnderstandingFigure 1: Scene propose a method for Egocentric SLAM to gain geometric and Semantic understandingof complex scenes where humans manipulate and interact with objects. The input of our system is an RGB-D-Thermal sen-sory stream from the perspective an operator ( an Egocentric view) (left panel). The desired output is a 3D reconstructionof the Scene where the location and pose of the observer is detected (center panel) as well as a 3D Semantic segmentation interms of the elements that involve human interaction (for instance: left hand, right hand, object that the operator interactswith, remainder of the environment) (right panel).}

Scene Semantic Reconstruction from Egocentric RGB-D-Thermal Videos Rachel Luo, Ozan Sener, and Silvio Savarese Stanford University frsluo, osener, ssilviog@stanford.edu

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  Form, Reconstruction, Scene, Semantics, Scene semantic reconstruction from egocentric, Egocentric, Scene semantic reconstruction from egocentric rgb

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