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. 2018 Aug 6;18(8):2571. doi: 10.3390/s18082571

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© 2018 by the authors.

Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).

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Effectiveness of the map refinement. (First Row) original images. (Second Row) 2D semantic segmentation. (Third Row) semantic 3D map without map refinement. (Bottom Row) semantic 3D map with map refinement.