2,091 research outputs found
Deep Semantic Classification for 3D LiDAR Data
Robots are expected to operate autonomously in dynamic environments.
Understanding the underlying dynamic characteristics of objects is a key
enabler for achieving this goal. In this paper, we propose a method for
pointwise semantic classification of 3D LiDAR data into three classes:
non-movable, movable and dynamic. We concentrate on understanding these
specific semantics because they characterize important information required for
an autonomous system. Non-movable points in the scene belong to unchanging
segments of the environment, whereas the remaining classes corresponds to the
changing parts of the scene. The difference between the movable and dynamic
class is their motion state. The dynamic points can be perceived as moving,
whereas movable objects can move, but are perceived as static. To learn the
distinction between movable and non-movable points in the environment, we
introduce an approach based on deep neural network and for detecting the
dynamic points, we estimate pointwise motion. We propose a Bayes filter
framework for combining the learned semantic cues with the motion cues to infer
the required semantic classification. In extensive experiments, we compare our
approach with other methods on a standard benchmark dataset and report
competitive results in comparison to the existing state-of-the-art.
Furthermore, we show an improvement in the classification of points by
combining the semantic cues retrieved from the neural network with the motion
cues.Comment: 8 pages to be published in IROS 201
Object Level Deep Feature Pooling for Compact Image Representation
Convolutional Neural Network (CNN) features have been successfully employed
in recent works as an image descriptor for various vision tasks. But the
inability of the deep CNN features to exhibit invariance to geometric
transformations and object compositions poses a great challenge for image
search. In this work, we demonstrate the effectiveness of the objectness prior
over the deep CNN features of image regions for obtaining an invariant image
representation. The proposed approach represents the image as a vector of
pooled CNN features describing the underlying objects. This representation
provides robustness to spatial layout of the objects in the scene and achieves
invariance to general geometric transformations, such as translation, rotation
and scaling. The proposed approach also leads to a compact representation of
the scene, making each image occupy a smaller memory footprint. Experiments
show that the proposed representation achieves state of the art retrieval
results on a set of challenging benchmark image datasets, while maintaining a
compact representation.Comment: Deep Vision 201
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