Fig. 1. Block diagram of semantic map construction

Fig. 2. Framework of PFPN semantic segmentation network

Fig. 3. Structure of reduced PFPN

Fig. 4. Schematic diagram of coordinate system

Fig. 5. Time matching method of Lidar and camera

Fig. 6. Fusion result

Fig. 7. Construction of semantic map

Fig. 8. Experimental test route and test environment. (a) Test route; (b) test environment

Fig. 9. Map comparison. (a) SLAM map established by original point cloud; (b) semantic map after removing vehicle information in environment; (c) (d) enlarged display of rectangular area in Fig. 9 (a),(b)

Fig. 10. Mapping track

Fig. 11. Error comparison between x-axis and y-axis

Fig. 12. Comparison of overall pose error