9,221 research outputs found
Polygon Exploration with Time-Discrete Vision
With the advent of autonomous robots with two- and three-dimensional scanning
capabilities, classical visibility-based exploration methods from computational
geometry have gained in practical importance. However, real-life laser scanning
of useful accuracy does not allow the robot to scan continuously while in
motion; instead, it has to stop each time it surveys its environment. This
requirement was studied by Fekete, Klein and Nuechter for the subproblem of
looking around a corner, but until now has not been considered in an online
setting for whole polygonal regions.
We give the first algorithmic results for this important algorithmic problem
that combines stationary art gallery-type aspects with watchman-type issues in
an online scenario: We demonstrate that even for orthoconvex polygons, a
competitive strategy can be achieved only for limited aspect ratio A (the ratio
of the maximum and minimum edge length of the polygon), i.e., for a given lower
bound on the size of an edge; we give a matching upper bound by providing an
O(log A)-competitive strategy for simple rectilinear polygons, using the
assumption that each edge of the polygon has to be fully visible from some scan
point.Comment: 28 pages, 17 figures, 2 photographs, 3 tables, Latex. Updated some
details (title, figures and text) for final journal revision, including
explicit assumption of full edge visibilit
Matching Points with Things
Given an ordered set of points and an ordered set of geometric objects in the plane, we are interested in finding a non-crossing matching between point-object pairs. We show that when the objects we match the points to are finite point sets, the problem is NP-complete in general, and polynomial when the objects are on a line or when their number is at most 2. When the objects are line segments, we show that the problem is NP-complete in general, and polynomial when the segments form a convex polygon or are all on a line. Finally, for objects that are straight lines, we show that the problem of finding a min-max non-crossing matching is NP-complete
Annotating Object Instances with a Polygon-RNN
We propose an approach for semi-automatic annotation of object instances.
While most current methods treat object segmentation as a pixel-labeling
problem, we here cast it as a polygon prediction task, mimicking how most
current datasets have been annotated. In particular, our approach takes as
input an image crop and sequentially produces vertices of the polygon outlining
the object. This allows a human annotator to interfere at any time and correct
a vertex if needed, producing as accurate segmentation as desired by the
annotator. We show that our approach speeds up the annotation process by a
factor of 4.7 across all classes in Cityscapes, while achieving 78.4% agreement
in IoU with original ground-truth, matching the typical agreement between human
annotators. For cars, our speed-up factor is 7.3 for an agreement of 82.2%. We
further show generalization capabilities of our approach to unseen datasets
Crowdsourcing in Computer Vision
Computer vision systems require large amounts of manually annotated data to
properly learn challenging visual concepts. Crowdsourcing platforms offer an
inexpensive method to capture human knowledge and understanding, for a vast
number of visual perception tasks. In this survey, we describe the types of
annotations computer vision researchers have collected using crowdsourcing, and
how they have ensured that this data is of high quality while annotation effort
is minimized. We begin by discussing data collection on both classic (e.g.,
object recognition) and recent (e.g., visual story-telling) vision tasks. We
then summarize key design decisions for creating effective data collection
interfaces and workflows, and present strategies for intelligently selecting
the most important data instances to annotate. Finally, we conclude with some
thoughts on the future of crowdsourcing in computer vision.Comment: A 69-page meta review of the field, Foundations and Trends in
Computer Graphics and Vision, 201
Vision-Based Localization Algorithm Based on Landmark Matching, Triangulation, Reconstruction, and Comparison
Many generic position-estimation algorithms are vulnerable to ambiguity introduced by nonunique landmarks. Also, the available high-dimensional image data is not fully used when these techniques are extended to vision-based localization. This paper presents the landmark matching, triangulation, reconstruction, and comparison (LTRC) global localization algorithm, which is reasonably immune to ambiguous landmark matches. It extracts natural landmarks for the (rough) matching stage before generating the list of possible position estimates through triangulation. Reconstruction and comparison then rank the possible estimates. The LTRC algorithm has been implemented using an interpreted language, onto a robot equipped with a panoramic vision system. Empirical data shows remarkable improvement in accuracy when compared with the established random sample consensus method. LTRC is also robust against inaccurate map data
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