3,183 research outputs found
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
A Multi-Level Approach to Waste Object Segmentation
We address the problem of localizing waste objects from a color image and an
optional depth image, which is a key perception component for robotic
interaction with such objects. Specifically, our method integrates the
intensity and depth information at multiple levels of spatial granularity.
Firstly, a scene-level deep network produces an initial coarse segmentation,
based on which we select a few potential object regions to zoom in and perform
fine segmentation. The results of the above steps are further integrated into a
densely connected conditional random field that learns to respect the
appearance, depth, and spatial affinities with pixel-level accuracy. In
addition, we create a new RGBD waste object segmentation dataset, MJU-Waste,
that is made public to facilitate future research in this area. The efficacy of
our method is validated on both MJU-Waste and the Trash Annotation in Context
(TACO) dataset.Comment: Paper appears in Sensors 2020, 20(14), 381
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