46,972 research outputs found
Hierarchical Object Parsing from Structured Noisy Point Clouds
Object parsing and segmentation from point clouds are challenging tasks
because the relevant data is available only as thin structures along object
boundaries or other features, and is corrupted by large amounts of noise. To
handle this kind of data, flexible shape models are desired that can accurately
follow the object boundaries. Popular models such as Active Shape and Active
Appearance models lack the necessary flexibility for this task, while recent
approaches such as the Recursive Compositional Models make model
simplifications in order to obtain computational guarantees. This paper
investigates a hierarchical Bayesian model of shape and appearance in a
generative setting. The input data is explained by an object parsing layer,
which is a deformation of a hidden PCA shape model with Gaussian prior. The
paper also introduces a novel efficient inference algorithm that uses informed
data-driven proposals to initialize local searches for the hidden variables.
Applied to the problem of object parsing from structured point clouds such as
edge detection images, the proposed approach obtains state of the art parsing
errors on two standard datasets without using any intensity information.Comment: 13 pages, 16 figure
Object Edge Contour Localisation Based on HexBinary Feature Matching
This paper addresses the issue of localising object
edge contours in cluttered backgrounds to support robotics
tasks such as grasping and manipulation and also to improve
the potential perceptual capabilities of robot vision systems. Our
approach is based on coarse-to-fine matching of a new recursively
constructed hierarchical, dense, edge-localised descriptor,
the HexBinary, based on the HexHog descriptor structure first
proposed in [1]. Since Binary String image descriptors [2]–
[5] require much lower computational resources, but provide
similar or even better matching performance than Histogram
of Orientated Gradient (HoG) descriptors, we have replaced
the HoG base descriptor fields used in HexHog with Binary
Strings generated from first and second order polar derivative
approximations. The ALOI [6] dataset is used to evaluate
the HexBinary descriptors which we demonstrate to achieve
a superior performance to that of HexHoG [1] for pose
refinement. The validation of our object contour localisation
system shows promising results with correctly labelling ~86% of edgel positions and mis-labelling ~3%
A Graph Theoretic Approach for Object Shape Representation in Compositional Hierarchies Using a Hybrid Generative-Descriptive Model
A graph theoretic approach is proposed for object shape representation in a
hierarchical compositional architecture called Compositional Hierarchy of Parts
(CHOP). In the proposed approach, vocabulary learning is performed using a
hybrid generative-descriptive model. First, statistical relationships between
parts are learned using a Minimum Conditional Entropy Clustering algorithm.
Then, selection of descriptive parts is defined as a frequent subgraph
discovery problem, and solved using a Minimum Description Length (MDL)
principle. Finally, part compositions are constructed by compressing the
internal data representation with discovered substructures. Shape
representation and computational complexity properties of the proposed approach
and algorithms are examined using six benchmark two-dimensional shape image
datasets. Experiments show that CHOP can employ part shareability and indexing
mechanisms for fast inference of part compositions using learned shape
vocabularies. Additionally, CHOP provides better shape retrieval performance
than the state-of-the-art shape retrieval methods.Comment: Paper : 17 pages. 13th European Conference on Computer Vision (ECCV
2014), Zurich, Switzerland, September 6-12, 2014, Proceedings, Part III, pp
566-581. Supplementary material can be downloaded from
http://link.springer.com/content/esm/chp:10.1007/978-3-319-10578-9_37/file/MediaObjects/978-3-319-10578-9_37_MOESM1_ESM.pd
Accurate video object tracking using a region-based particle filter
Usually, in particle filters applied to video tracking, a simple geometrical shape, typically an ellipse, is used in order to bound the object being tracked. Although it is a good tracker, it tends to a bad object representation, as most of the world objects are not simple geometrical shapes. A better way to represent the object is by using a region-based approach, such as the Region Based Particle Filter (RBPF). This method exploits a hierarchical region based representation associated with images to tackle both problems at the same time: tracking and video object segmentation. By means of RBPF the object segmentation is resolved with high accuracy, but new problems arise. The object representation is now based on image partitions instead of pixels. This means that the amount of possible combinations has now decreased, which is computationally good, but an error on the regions taken for the object representation leads to a higher estimation error than methods working at pixel level. On the other hand, if the level of regions detail in the partition is high, the estimation of the object turns to be very noisy, making it hard to accurately propagate the object segmentation. In this thesis we present new tools to the existing RBPF. These tools are focused on increasing the RBPF performance by means of guiding the particles towards a good solution while maintaining a particle filter approach. The concept of hierarchical flow is presented and exploited, a Bayesian estimation is used in order to assign probabilities of being object or background to each region, and the reduction, in an intelligent way, of the solution space , to increase the RBPF robustness while reducing computational effort. Also changes on the already proposed co-clustering in the RBPF approach are proposed. Finally, we present results on the recently presented DAVIS database. This database comprises 50 High Definition video sequences representing several challenging situations. By using this dataset, we compare the RBPF with other state-ofthe- art methods
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