Cross-Viewpoint Semantic Mapping: Integrating Human and Robot Perspectives for Improved 3D Semantic Reconstruction.

Allocentric semantic 3D maps are highly useful for a variety of human-machine interaction related tasks since egocentric viewpoints can be derived by the machine for the human partner. Class labels and map interpretations, however, may differ or could be missing for the participants due to the different perspectives. Particularly, when considering the viewpoint of a small robot, which significantly differs from the viewpoint of a human.