Stereo Visual Mesh for Generating Sparse Semantic Maps at High Frame Rates

The Visual Mesh is an input transform for deep learning that allows depth independent object detection at very high frame rates. The present study introduces a Visual Mesh based stereo vision method for sparse stereo semantic segmentation. A dataset of simulated 3D scenes was generated and used for training to show that the method is capable of processing high resolution stereo inputs to generate both left and right sparse semantic maps. The new stereo method demonstrated better classification accuracy than the corresponding monocular approach. The high frame rates and high accuracy may make the proposed approach attractive to fast-paced on-board robot or IoT applications.