Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Probabilistic 3D Multilabel Real-time Mapping for Multi-object
  Manipulation   Probabilistic 3D map has been applied to object segmentation with multiple
camera viewpoints, however, conventional methods lack of real-time efficiency
and functionality of multilabel object mapping. In this paper, we propose a
method to generate three-dimensional map with multilabel occupancy in
real-time. Extending our previous work in which only target label occupancy is
mapped, we achieve multilabel object segmentation in a single looking around
action. We evaluate our method by testing segmentation accuracy with 39
different objects, and applying it to a manipulation task of multiple objects
in the experiments. Our mapping-based method outperforms the conventional
projection-based method by 40 - 96\% relative (12.6 mean $IU_{3d}$), and robot
successfully recognizes (86.9\%) and manipulates multiple objects (60.7\%) in
an environment with heavy occlusions.

35
The categories of this paper are: mtrl-th
14
The categories of this paper are: math-ph
15
The categories of this paper are: nucl-ex
12
The categories of this paper are: nucl-th
29
The categories of this paper are: funct-an
13
The categories of this paper are: quant-ph
7
The categories of this paper are: hep-th
31
The categories of this paper are: ao-sci
18
The categories of this paper are: econ
34
The categories of this paper are: chem-ph
25
The categories of this paper are: patt-sol
30
The categories of this paper are: q-alg
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The categories of this paper are: cmp-lg
5
The categories of this paper are: gr-qc
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The categories of this paper are: solv-int
10
The categories of this paper are: q-bio