Understanding semantic label fusion about semantic_suma HOT 1 CLOSED

Hi @joelloo,

Thank you very much for following our work.

You are correct. We will not change the semantic class of the surfel after creating it, but if the stability of a surfel is too low, we will remove that surfel and a new surfel will be generated with a new class. We do update the semantic probability somehow, but for the runtime consideration, we don't maintain a full probability distribution over all possible semantic classes. Therefore, we didn't use the full semantic probability in this work, and only exploits the most likely class and probability when updating the stability of the surfel. We may consider it for later work.

We didn't explicitly use the updated probability in this work since the semantic compatibility has been already considered during the updating of the stability.

I hope this answer helps you!

from semantic_suma.