Online Knowledge Integration for 3D Semantic Mapping: A Survey
Abstract
Semantic mapping is a key component of robots operating in and interacting with objects in structured environments. Traditionally, geometric and knowledge representations within a semantic map have only been loosely integrated. However, recent advances in deep learning now allow full integration of prior knowledge, represented as knowledge graphs or language concepts, into sensor data processing and semantic mapping pipelines. Semantic scene graphs and language models enable modern semantic mapping approaches to incorporate graph-based prior knowledge or to leverage the rich information in human language both during and after the mapping process. This has sparked substantial advances in semantic mapping, leading to previously impossible novel applications. This survey reviews these recent developments comprehensively, with a focus on online integration of knowledge into semantic mapping. We specifically focus on methods using semantic scene graphs for integrating symbolic prior knowledge and language models for respective capture of implicit common-sense knowledge and natural language concepts
Cite
@article{arxiv.2411.18147,
title = {Online Knowledge Integration for 3D Semantic Mapping: A Survey},
author = {Felix Igelbrink and Marian Renz and Martin Günther and Piper Powell and Lennart Niecksch and Oscar Lima and Martin Atzmueller and Joachim Hertzberg},
journal= {arXiv preprint arXiv:2411.18147},
year = {2024}
}
Comments
Submitted to Robotics and Autonomous Systems