Semantic mapping based on pixel level classification.
License: GNU General Public License v3.0
Semantic mapping based on pixel level classification.
The weight file should be placed in deeplabv2/data/models，and downloads in deeplab-pytorch . And you can change the path in deeplabv2/inference.py.
class SegModel():
def __init__(self):
config_path = "deeplabv2/configs/cocostuff164k.yaml"
model_path = "deeplabv2/data/models/deeplabv2_resnet101_msc-cocostuff164k-100000.pth"
......The same as ORB-SLAM2.
Refer to 基于ORB-SLAM2的语义地图构建.
ORB-SLAM2 Copyright (C) 2014-2016 Raul Mur-Artal, University of Zaragoza.
This program comes with ABSOLUTELY NO WARRANTY;
This is free software, and you are welcome to redistribute it
under certain conditions. See LICENSE.txt.
Input sensor was set to: RGB-D
Loading ORB Vocabulary. This could take a while...
Vocabulary loaded!
Segmentation fault (core dumped)
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