PDF-ingsurfacessuchasgrass,walls,orpavement,andsmallsetsofobjecttypessucha
Algorithm1DetectionbasedSceneLabeling
1InputAlignedRGBDframesf1fK
trainedobjectdetectors1C
2Foreachkinf1Kg
3ProjectallNpixelsinfkinto3Dpointsx1xN
usingthecameraposeestimat
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