?url_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Adc&rft.title=MaskFusion%3A+Real-Time+Recognition%2C+Tracking+and+Reconstruction+of+Multiple+Moving+Objects&rft.creator=Runz%2C+M&rft.creator=Buffier%2C+M&rft.creator=Agapito%2C+L&rft.description=We+present+MaskFusion%2C+a+real-time%2C+object-aware%2C+semantic+and+dynamic+RGB-D+SLAM+system+that+goes+beyond+traditional+systems+which+output+a+purely+geometric+map+of+a+static+scene.+MaskFusion+recognizes%2C+segments+and+assigns+semantic+class+labels+to+different+objects+in+the+scene%2C+while+tracking+and+reconstructing+them+even+when+they+move+independently+from+the+camera.+As+an+RGB-D+camera+scans+a+cluttered+scene%2C+image-based+instance-level+semantic+segmentation+creates+semantic+object+masks+that+enable+realtime+object+recognition+and+the+creation+of+an+object-level+representation+for+the+world+map.+Unlike+previous+recognition-based+SLAM+systems%2C+MaskFusion+does+not+require+known+models+of+the+objects+it+can+recognize%2C+and+can+deal+with+multiple+independent+motions.+MaskFusion+takes+full+advantage+of+using+instance-level+semantic+segmentation+to+enable+semantic+labels+to+be+fused+into+an+object-aware+map%2C+unlike+recent+semantics+enabled+SLAM+systems+that+perform+voxel-level+semantic+segmentation.+We+show+augmented-reality+applications+that+demonstrate+the+unique+features+of+the+map+output+by+MaskFusion%3A+instance-aware%2C+semantic+and+dynamic.+Code+will+be+made+available.&rft.subject=Visual+SLAM%2C+SLAM%2C+Visualization%2C+Tracking%2C+Mapping%2C+Fusion%2C+RGBD%2C+Multi-object+Recognition%2C+Context%2C+Semantic%2C+Detection+Real-time%2C+Augmented-Reality%2C+Robotics%2C+3D%2C+SEGMENTATION%2C+LOCALIZATION&rft.publisher=IEEE&rft.contributor=Chu%2C+D&rft.contributor=Gabbard%2C+JL&rft.contributor=Grubert%2C+J&rft.contributor=Regenbrecht%2C+H&rft.date=2019-01-17&rft.type=Proceedings+paper&rft.publisher=17th+IEEE+International+Symposium+on+Mixed+and+Augmented+Reality+(ISMAR)&rft.language=eng&rft.source=+++++In%3A+Chu%2C+D+and+Gabbard%2C+JL+and+Grubert%2C+J+and+Regenbrecht%2C+H%2C+(eds.)++(Proceedings)+17th+IEEE+International+Symposium+on+Mixed+and+Augmented+Reality+(ISMAR).+(pp.+pp.+10-20).++IEEE%3A+Munich%2C+Germany.+(2019)+++++&rft.format=text&rft.identifier=https%3A%2F%2Fdiscovery.ucl.ac.uk%2Fid%2Feprint%2F10074870%2F1%2Fismar2018_maskfusion_print.pdf&rft.identifier=https%3A%2F%2Fdiscovery.ucl.ac.uk%2Fid%2Feprint%2F10074870%2F&rft.rights=open