semmapping

Creates semantic maps from RGB-D camera images.

Related packages

hypermap_msgs: Provides semantic messages published by this framework. You can use these messages to create a Hypermap. For more information, see the hypermap package.

hypermap_rviz_plugin: Contains plugin to visualize the generated semantic maps.

darknet_ros: YOLO wrapper for ROS, which can be used for object detection. You need at least the message package to compile this package.

yolact_ros: Yolact wrapper for ROS, which can be used for instance segmentation. You need at least the message package to compile this package.

Parameters

• point_cloud: Point cloud topic used for segmentation.
• camera_info: Camera info topic. Currently only used to publish observation area.
• laser_scanner: Laser scanner topic. Currently only used to publish observation area.