864 research outputs found
Dense Piecewise Planar RGB-D SLAM for Indoor Environments
The paper exploits weak Manhattan constraints to parse the structure of
indoor environments from RGB-D video sequences in an online setting. We extend
the previous approach for single view parsing of indoor scenes to video
sequences and formulate the problem of recovering the floor plan of the
environment as an optimal labeling problem solved using dynamic programming.
The temporal continuity is enforced in a recursive setting, where labeling from
previous frames is used as a prior term in the objective function. In addition
to recovery of piecewise planar weak Manhattan structure of the extended
environment, the orthogonality constraints are also exploited by visual
odometry and pose graph optimization. This yields reliable estimates in the
presence of large motions and absence of distinctive features to track. We
evaluate our method on several challenging indoors sequences demonstrating
accurate SLAM and dense mapping of low texture environments. On existing TUM
benchmark we achieve competitive results with the alternative approaches which
fail in our environments.Comment: International Conference on Intelligent Robots and Systems (IROS)
201
Semi-Global Stereo Matching with Surface Orientation Priors
Semi-Global Matching (SGM) is a widely-used efficient stereo matching
technique. It works well for textured scenes, but fails on untextured slanted
surfaces due to its fronto-parallel smoothness assumption. To remedy this
problem, we propose a simple extension, termed SGM-P, to utilize precomputed
surface orientation priors. Such priors favor different surface slants in
different 2D image regions or 3D scene regions and can be derived in various
ways. In this paper we evaluate plane orientation priors derived from stereo
matching at a coarser resolution and show that such priors can yield
significant performance gains for difficult weakly-textured scenes. We also
explore surface normal priors derived from Manhattan-world assumptions, and we
analyze the potential performance gains using oracle priors derived from
ground-truth data. SGM-P only adds a minor computational overhead to SGM and is
an attractive alternative to more complex methods employing higher-order
smoothness terms.Comment: extended draft of 3DV 2017 (spotlight) pape
Joint Optical Flow and Temporally Consistent Semantic Segmentation
The importance and demands of visual scene understanding have been steadily
increasing along with the active development of autonomous systems.
Consequently, there has been a large amount of research dedicated to semantic
segmentation and dense motion estimation. In this paper, we propose a method
for jointly estimating optical flow and temporally consistent semantic
segmentation, which closely connects these two problem domains and leverages
each other. Semantic segmentation provides information on plausible physical
motion to its associated pixels, and accurate pixel-level temporal
correspondences enhance the accuracy of semantic segmentation in the temporal
domain. We demonstrate the benefits of our approach on the KITTI benchmark,
where we observe performance gains for flow and segmentation. We achieve
state-of-the-art optical flow results, and outperform all published algorithms
by a large margin on challenging, but crucial dynamic objects.Comment: 14 pages, Accepted for CVRSUAD workshop at ECCV 201
GASP : Geometric Association with Surface Patches
A fundamental challenge to sensory processing tasks in perception and
robotics is the problem of obtaining data associations across views. We present
a robust solution for ascertaining potentially dense surface patch (superpixel)
associations, requiring just range information. Our approach involves
decomposition of a view into regularized surface patches. We represent them as
sequences expressing geometry invariantly over their superpixel neighborhoods,
as uniquely consistent partial orderings. We match these representations
through an optimal sequence comparison metric based on the Damerau-Levenshtein
distance - enabling robust association with quadratic complexity (in contrast
to hitherto employed joint matching formulations which are NP-complete). The
approach is able to perform under wide baselines, heavy rotations, partial
overlaps, significant occlusions and sensor noise.
The technique does not require any priors -- motion or otherwise, and does
not make restrictive assumptions on scene structure and sensor movement. It
does not require appearance -- is hence more widely applicable than appearance
reliant methods, and invulnerable to related ambiguities such as textureless or
aliased content. We present promising qualitative and quantitative results
under diverse settings, along with comparatives with popular approaches based
on range as well as RGB-D data.Comment: International Conference on 3D Vision, 201
Semantically Guided Depth Upsampling
We present a novel method for accurate and efficient up- sampling of sparse
depth data, guided by high-resolution imagery. Our approach goes beyond the use
of intensity cues only and additionally exploits object boundary cues through
structured edge detection and semantic scene labeling for guidance. Both cues
are combined within a geodesic distance measure that allows for
boundary-preserving depth in- terpolation while utilizing local context. We
model the observed scene structure by locally planar elements and formulate the
upsampling task as a global energy minimization problem. Our method determines
glob- ally consistent solutions and preserves fine details and sharp depth
bound- aries. In our experiments on several public datasets at different levels
of application, we demonstrate superior performance of our approach over the
state-of-the-art, even for very sparse measurements.Comment: German Conference on Pattern Recognition 2016 (Oral
Planar Prior Assisted PatchMatch Multi-View Stereo
The completeness of 3D models is still a challenging problem in multi-view
stereo (MVS) due to the unreliable photometric consistency in low-textured
areas. Since low-textured areas usually exhibit strong planarity, planar models
are advantageous to the depth estimation of low-textured areas. On the other
hand, PatchMatch multi-view stereo is very efficient for its sampling and
propagation scheme. By taking advantage of planar models and PatchMatch
multi-view stereo, we propose a planar prior assisted PatchMatch multi-view
stereo framework in this paper. In detail, we utilize a probabilistic graphical
model to embed planar models into PatchMatch multi-view stereo and contribute a
novel multi-view aggregated matching cost. This novel cost takes both
photometric consistency and planar compatibility into consideration, making it
suited for the depth estimation of both non-planar and planar regions.
Experimental results demonstrate that our method can efficiently recover the
depth information of extremely low-textured areas, thus obtaining high complete
3D models and achieving state-of-the-art performance.Comment: Accepted by AAAI-202
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