1,097 research outputs found
Cumulative object categorization in clutter
In this paper we present an approach based on scene- or part-graphs for geometrically categorizing touching and
occluded objects. We use additive RGBD feature descriptors and hashing of graph configuration parameters for describing the spatial arrangement of constituent parts. The presented experiments quantify that this method outperforms our earlier part-voting and sliding window classification. We evaluated our approach on cluttered scenes, and by using a 3D dataset containing over 15000 Kinect scans of over 100 objects which were grouped into general geometric categories. Additionally, color, geometric, and combined features were compared for categorization tasks
Superpixel-based Semantic Segmentation Trained by Statistical Process Control
Semantic segmentation, like other fields of computer vision, has seen a
remarkable performance advance by the use of deep convolution neural networks.
However, considering that neighboring pixels are heavily dependent on each
other, both learning and testing of these methods have a lot of redundant
operations. To resolve this problem, the proposed network is trained and tested
with only 0.37% of total pixels by superpixel-based sampling and largely
reduced the complexity of upsampling calculation. The hypercolumn feature maps
are constructed by pyramid module in combination with the convolution layers of
the base network. Since the proposed method uses a very small number of sampled
pixels, the end-to-end learning of the entire network is difficult with a
common learning rate for all the layers. In order to resolve this problem, the
learning rate after sampling is controlled by statistical process control (SPC)
of gradients in each layer. The proposed method performs better than or equal
to the conventional methods that use much more samples on Pascal Context,
SUN-RGBD dataset.Comment: Accepted in British Machine Vision Conference (BMVC), 201
Co-Fusion: Real-time Segmentation, Tracking and Fusion of Multiple Objects
In this paper we introduce Co-Fusion, a dense SLAM system that takes a live
stream of RGB-D images as input and segments the scene into different objects
(using either motion or semantic cues) while simultaneously tracking and
reconstructing their 3D shape in real time. We use a multiple model fitting
approach where each object can move independently from the background and still
be effectively tracked and its shape fused over time using only the information
from pixels associated with that object label. Previous attempts to deal with
dynamic scenes have typically considered moving regions as outliers, and
consequently do not model their shape or track their motion over time. In
contrast, we enable the robot to maintain 3D models for each of the segmented
objects and to improve them over time through fusion. As a result, our system
can enable a robot to maintain a scene description at the object level which
has the potential to allow interactions with its working environment; even in
the case of dynamic scenes.Comment: International Conference on Robotics and Automation (ICRA) 2017,
http://visual.cs.ucl.ac.uk/pubs/cofusion,
https://github.com/martinruenz/co-fusio
SGPN: Similarity Group Proposal Network for 3D Point Cloud Instance Segmentation
We introduce Similarity Group Proposal Network (SGPN), a simple and intuitive
deep learning framework for 3D object instance segmentation on point clouds.
SGPN uses a single network to predict point grouping proposals and a
corresponding semantic class for each proposal, from which we can directly
extract instance segmentation results. Important to the effectiveness of SGPN
is its novel representation of 3D instance segmentation results in the form of
a similarity matrix that indicates the similarity between each pair of points
in embedded feature space, thus producing an accurate grouping proposal for
each point. To the best of our knowledge, SGPN is the first framework to learn
3D instance-aware semantic segmentation on point clouds. Experimental results
on various 3D scenes show the effectiveness of our method on 3D instance
segmentation, and we also evaluate the capability of SGPN to improve 3D object
detection and semantic segmentation results. We also demonstrate its
flexibility by seamlessly incorporating 2D CNN features into the framework to
boost performance
RGBD Datasets: Past, Present and Future
Since the launch of the Microsoft Kinect, scores of RGBD datasets have been
released. These have propelled advances in areas from reconstruction to gesture
recognition. In this paper we explore the field, reviewing datasets across
eight categories: semantics, object pose estimation, camera tracking, scene
reconstruction, object tracking, human actions, faces and identification. By
extracting relevant information in each category we help researchers to find
appropriate data for their needs, and we consider which datasets have succeeded
in driving computer vision forward and why.
Finally, we examine the future of RGBD datasets. We identify key areas which
are currently underexplored, and suggest that future directions may include
synthetic data and dense reconstructions of static and dynamic scenes.Comment: 8 pages excluding references (CVPR style
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