Real-Time Fully Incremental Scene Understanding on Mobile Platforms

We propose an online RGB-D based scene understanding method for indoor scenes running in real time on mobile devices. First, we incrementally reconstruct the scene via simultaneous localization and mapping and compute a three-dimensional (3-D) geometric segmentation by fusing segments obtained from each input depth image in a global 3-D model. We combine this geometric segmentation with semantic annotations to obtain a semantic segmentation in form of a semantic map. To accomplish efficient semantic segmentation, we encode the segments in the global model with a fast incremental 3-D descriptor and use a random forest to determine its semantic label. The predictions from successive frames are then fused to obtain a confident semantic class across time. As a result, the overall method achieves an accuracy that gets close to the most state-of-the-art 3-D scene understanding methods while being much more efficient, enabling real-time execution on low-power embedded systems.