45,390 research outputs found
Panoptic Segmentation
We propose and study a task we name panoptic segmentation (PS). Panoptic
segmentation unifies the typically distinct tasks of semantic segmentation
(assign a class label to each pixel) and instance segmentation (detect and
segment each object instance). The proposed task requires generating a coherent
scene segmentation that is rich and complete, an important step toward
real-world vision systems. While early work in computer vision addressed
related image/scene parsing tasks, these are not currently popular, possibly
due to lack of appropriate metrics or associated recognition challenges. To
address this, we propose a novel panoptic quality (PQ) metric that captures
performance for all classes (stuff and things) in an interpretable and unified
manner. Using the proposed metric, we perform a rigorous study of both human
and machine performance for PS on three existing datasets, revealing
interesting insights about the task. The aim of our work is to revive the
interest of the community in a more unified view of image segmentation.Comment: accepted to CVPR 201
SegICP: Integrated Deep Semantic Segmentation and Pose Estimation
Recent robotic manipulation competitions have highlighted that sophisticated
robots still struggle to achieve fast and reliable perception of task-relevant
objects in complex, realistic scenarios. To improve these systems' perceptive
speed and robustness, we present SegICP, a novel integrated solution to object
recognition and pose estimation. SegICP couples convolutional neural networks
and multi-hypothesis point cloud registration to achieve both robust pixel-wise
semantic segmentation as well as accurate and real-time 6-DOF pose estimation
for relevant objects. Our architecture achieves 1cm position error and
<5^\circ$ angle error in real time without an initial seed. We evaluate and
benchmark SegICP against an annotated dataset generated by motion capture.Comment: IROS camera-read
Improvised Salient Object Detection and Manipulation
In case of salient subject recognition, computer algorithms have been heavily
relied on scanning of images from top-left to bottom-right systematically and
apply brute-force when attempting to locate objects of interest. Thus, the
process turns out to be quite time consuming. Here a novel approach and a
simple solution to the above problem is discussed. In this paper, we implement
an approach to object manipulation and detection through segmentation map,
which would help to desaturate or, in other words, wash out the background of
the image. Evaluation for the performance is carried out using the Jaccard
index against the well-known Ground-truth target box technique.Comment: 7 page
- …