6,536 research outputs found
PetroSurf3D - A Dataset for high-resolution 3D Surface Segmentation
The development of powerful 3D scanning hardware and reconstruction
algorithms has strongly promoted the generation of 3D surface reconstructions
in different domains. An area of special interest for such 3D reconstructions
is the cultural heritage domain, where surface reconstructions are generated to
digitally preserve historical artifacts. While reconstruction quality nowadays
is sufficient in many cases, the robust analysis (e.g. segmentation, matching,
and classification) of reconstructed 3D data is still an open topic. In this
paper, we target the automatic and interactive segmentation of high-resolution
3D surface reconstructions from the archaeological domain. To foster research
in this field, we introduce a fully annotated and publicly available
large-scale 3D surface dataset including high-resolution meshes, depth maps and
point clouds as a novel benchmark dataset to the community. We provide baseline
results for our existing random forest-based approach and for the first time
investigate segmentation with convolutional neural networks (CNNs) on the data.
Results show that both approaches have complementary strengths and weaknesses
and that the provided dataset represents a challenge for future research.Comment: CBMI Submission; Dataset and more information can be found at
http://lrs.icg.tugraz.at/research/petroglyphsegmentation
SEGCloud: Semantic Segmentation of 3D Point Clouds
3D semantic scene labeling is fundamental to agents operating in the real
world. In particular, labeling raw 3D point sets from sensors provides
fine-grained semantics. Recent works leverage the capabilities of Neural
Networks (NNs), but are limited to coarse voxel predictions and do not
explicitly enforce global consistency. We present SEGCloud, an end-to-end
framework to obtain 3D point-level segmentation that combines the advantages of
NNs, trilinear interpolation(TI) and fully connected Conditional Random Fields
(FC-CRF). Coarse voxel predictions from a 3D Fully Convolutional NN are
transferred back to the raw 3D points via trilinear interpolation. Then the
FC-CRF enforces global consistency and provides fine-grained semantics on the
points. We implement the latter as a differentiable Recurrent NN to allow joint
optimization. We evaluate the framework on two indoor and two outdoor 3D
datasets (NYU V2, S3DIS, KITTI, Semantic3D.net), and show performance
comparable or superior to the state-of-the-art on all datasets.Comment: Accepted as a spotlight at the International Conference of 3D Vision
(3DV 2017
3D point cloud video segmentation oriented to the analysis of interactions
Given the widespread availability of point cloud data from consumer depth sensors, 3D point cloud segmentation becomes a promising building block for high level applications such as scene understanding and interaction analysis. It benefits from the richer information contained in real world 3D data compared to 2D images. This also implies that the classical color segmentation challenges have shifted to RGBD data, and new challenges have also emerged as the depth information is usually noisy, sparse and unorganized. Meanwhile, the lack of 3D point cloud ground truth labeling also limits the development and comparison among methods in 3D point cloud segmentation. In this paper, we present two contributions: a novel graph based point cloud segmentation method for RGBD stream data with interacting objects and a new ground truth labeling for a previously published data set. This data set focuses on interaction (merge and split between ’object’ point clouds), which differentiates itself from the few existing labeled RGBD data sets which are more oriented to Simultaneous Localization And Mapping (SLAM) tasks. The proposed point cloud segmentation method is evaluated with the 3D point cloud ground truth labeling. Experiments show the promising result of our approach.Postprint (published version
Multiframe Scene Flow with Piecewise Rigid Motion
We introduce a novel multiframe scene flow approach that jointly optimizes
the consistency of the patch appearances and their local rigid motions from
RGB-D image sequences. In contrast to the competing methods, we take advantage
of an oversegmentation of the reference frame and robust optimization
techniques. We formulate scene flow recovery as a global non-linear least
squares problem which is iteratively solved by a damped Gauss-Newton approach.
As a result, we obtain a qualitatively new level of accuracy in RGB-D based
scene flow estimation which can potentially run in real-time. Our method can
handle challenging cases with rigid, piecewise rigid, articulated and moderate
non-rigid motion, and does not rely on prior knowledge about the types of
motions and deformations. Extensive experiments on synthetic and real data show
that our method outperforms state-of-the-art.Comment: International Conference on 3D Vision (3DV), Qingdao, China, October
201
Multiframe Scene Flow with Piecewise Rigid Motion
We introduce a novel multiframe scene flow approach that jointly optimizes
the consistency of the patch appearances and their local rigid motions from
RGB-D image sequences. In contrast to the competing methods, we take advantage
of an oversegmentation of the reference frame and robust optimization
techniques. We formulate scene flow recovery as a global non-linear least
squares problem which is iteratively solved by a damped Gauss-Newton approach.
As a result, we obtain a qualitatively new level of accuracy in RGB-D based
scene flow estimation which can potentially run in real-time. Our method can
handle challenging cases with rigid, piecewise rigid, articulated and moderate
non-rigid motion, and does not rely on prior knowledge about the types of
motions and deformations. Extensive experiments on synthetic and real data show
that our method outperforms state-of-the-art.Comment: International Conference on 3D Vision (3DV), Qingdao, China, October
201
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