Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Real-time 3-D Mapping with Estimating Acoustic Materials   This paper proposes a real-time system integrating an acoustic material
estimation from visual appearance and an on-the-fly mapping in the 3-dimension.
The proposed method estimates the acoustic materials of surroundings in indoor
scenes and incorporates them to a 3-D occupancy map, as a robot moves around
the environment. To estimate the acoustic material from the visual cue, we
apply the state-of-the-art semantic segmentation CNN network based on the
assumption that the visual appearance and the acoustic materials have a strong
association. Furthermore, we introduce an update policy to handle the material
estimations during the online mapping process. As a result, our environment map
with acoustic material can be used for sound-related robotics applications,
such as sound source localization taking into account various acoustic
propagation (e.g., reflection).

20
The categories of this paper are: acc-phys
25
The categories of this paper are: patt-sol
32
The categories of this paper are: atom-ph
16
The categories of this paper are: stat
22
The categories of this paper are: chao-dyn
2
The categories of this paper are: math
12
The categories of this paper are: nucl-th
10
The categories of this paper are: q-bio
15
The categories of this paper are: nucl-ex
3
The categories of this paper are: physics
18
The categories of this paper are: econ
30
The categories of this paper are: q-alg
6
The categories of this paper are: astro-ph
36
The categories of this paper are: cmp-lg
33
The categories of this paper are: plasm-ph
26
The categories of this paper are: bayes-an