Future work

Needless to say, much work remains to be done. Future work will concentrate on three aspects:

• Integrate a camera and enhance the semantic interpretation by fusing color images with range data. The aperture angle of the camera will be enlarged using a pan and tilt unit to acquire color information for all measured range points.
  
• Build an explicit knowledge base, i.e., specifying the semantic net and labels in a file, such that easy adoption to different domains with templates is possible.
  
• Generate high level descriptions and semantic maps including the 3D information, e.g., in XML format. The semantic maps contain spatial 3D data with descriptions and labels.