{"id":63,"date":"2026-03-26T17:11:59","date_gmt":"2026-03-26T17:11:59","guid":{"rendered":"https:\/\/opus-nemo.put.poznan.pl\/?p=63"},"modified":"2026-03-26T17:11:59","modified_gmt":"2026-03-26T17:11:59","slug":"a-comparison-of-segmentation-methods-for-semanticoctomap-generation","status":"publish","type":"post","link":"https:\/\/opus-nemo.put.poznan.pl\/?p=63","title":{"rendered":"A Comparison of Segmentation Methods for SemanticOctoMap Generation"},"content":{"rendered":"\n<p>Our article &#8220;A Comparison of Segmentation Methods for Semantic OctoMap Generation&#8221;. This study presents a comparative evaluation of different semantic segmentation methods and examines the impact of input image resolution on the accuracy of 3D semantic environment reconstruction, inference time, and computational resource usage. The experiments were conducted using an ROS 2-based pipeline that combines RGB images and LiDAR point clouds. Semantic segmentation is performed using ONNX-exported deep neural networks, with class predictions projected onto corresponding 3D LiDAR data using calibrated extrinsic. The resulting semantically annotated point clouds are fused into a probabilistic 3D representation using an OctoMap, where each voxel stores both occupancy and semantic class information. Multiple encoder\u2013decoder architectures with various backbone configurations are evaluated in terms of segmentation quality, latency, memory footprint, and GPU utilization. Furthermore, a comparison between high and low image resolutions is conducted to assess trade-offs between model accuracy and real-time applicability.<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"493\" src=\"https:\/\/opus-nemo.put.poznan.pl\/wp-content\/uploads\/2026\/03\/image-1024x493.png\" alt=\"\" class=\"wp-image-64\" srcset=\"https:\/\/opus-nemo.put.poznan.pl\/wp-content\/uploads\/2026\/03\/image-1024x493.png 1024w, https:\/\/opus-nemo.put.poznan.pl\/wp-content\/uploads\/2026\/03\/image-300x144.png 300w, https:\/\/opus-nemo.put.poznan.pl\/wp-content\/uploads\/2026\/03\/image-768x370.png 768w, https:\/\/opus-nemo.put.poznan.pl\/wp-content\/uploads\/2026\/03\/image.png 1294w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>[1] M. Czajka, M. Krupka, D. Kubacka, M. R. Janiszewski, D. Belter, A Comparison of Segmentation Methods for Semantic OctoMap Generation, Applied Sciences, Vol. 15(13), pp. 7285-1-7285-20, 2025<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Our article &#8220;A Comparison of Segmentation Methods for Semantic OctoMap Generation&#8221;. This study presents a comparative evaluation of different semantic segmentation methods and examines the impact of input image resolution on the accuracy of 3D semantic environment reconstruction, inference time, and computational resource usage. The experiments were conducted using an ROS 2-based pipeline that combines [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[],"class_list":{"0":"post-63","1":"post","2":"type-post","3":"status-publish","4":"format-standard","6":"category-uncategorized","7":"czr-hentry"},"_links":{"self":[{"href":"https:\/\/opus-nemo.put.poznan.pl\/index.php?rest_route=\/wp\/v2\/posts\/63","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/opus-nemo.put.poznan.pl\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/opus-nemo.put.poznan.pl\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/opus-nemo.put.poznan.pl\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/opus-nemo.put.poznan.pl\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=63"}],"version-history":[{"count":1,"href":"https:\/\/opus-nemo.put.poznan.pl\/index.php?rest_route=\/wp\/v2\/posts\/63\/revisions"}],"predecessor-version":[{"id":65,"href":"https:\/\/opus-nemo.put.poznan.pl\/index.php?rest_route=\/wp\/v2\/posts\/63\/revisions\/65"}],"wp:attachment":[{"href":"https:\/\/opus-nemo.put.poznan.pl\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=63"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/opus-nemo.put.poznan.pl\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=63"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/opus-nemo.put.poznan.pl\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=63"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}