35,774 research outputs found
Going beyond semantic image segmentation, towards holistic scene understanding, with associative hierarchical random fields
In this thesis we exploit the generality and expressive power of the Associative Hierarchical
Random Field (AHRF) graphical model to take its use beyond that of semantic image segmentation,
into object-classes, towards a framework for holistic scene understanding. We provide a
working definition for the holistic approach to scene understanding, which allows for the integration
of existing, disparate, applications into an unifying ensemble. We believe that modelling
such an ensemble as an AHRF is both a principled and pragmatic solution. We present a hierarchy
that shows several methods for fusing applications together with the AHRF graphical model.
Each of the three; feature, potential and energy, layers subsumes its predecessor in generality
and together give rise to many options for integration. With applications on street scenes we
demonstrate an implementation of each layer. The first layer application joins appearance and
geometric features. For our second layer we implement a things and stuff co-junction using
higher order AHRF potentials for object detectors, with the goal of answering the classic questions:
What? Where? and How many? A holistic approach to recognition-and-reconstruction
is realised within our third layer by linking two energy based formulations of both applications.
Each application is evaluated qualitatively and quantitatively. In all cases our holistic approach
shows improvement over baseline methods
Generic 3D Representation via Pose Estimation and Matching
Though a large body of computer vision research has investigated developing
generic semantic representations, efforts towards developing a similar
representation for 3D has been limited. In this paper, we learn a generic 3D
representation through solving a set of foundational proxy 3D tasks:
object-centric camera pose estimation and wide baseline feature matching. Our
method is based upon the premise that by providing supervision over a set of
carefully selected foundational tasks, generalization to novel tasks and
abstraction capabilities can be achieved. We empirically show that the internal
representation of a multi-task ConvNet trained to solve the above core problems
generalizes to novel 3D tasks (e.g., scene layout estimation, object pose
estimation, surface normal estimation) without the need for fine-tuning and
shows traits of abstraction abilities (e.g., cross-modality pose estimation).
In the context of the core supervised tasks, we demonstrate our representation
achieves state-of-the-art wide baseline feature matching results without
requiring apriori rectification (unlike SIFT and the majority of learned
features). We also show 6DOF camera pose estimation given a pair local image
patches. The accuracy of both supervised tasks come comparable to humans.
Finally, we contribute a large-scale dataset composed of object-centric street
view scenes along with point correspondences and camera pose information, and
conclude with a discussion on the learned representation and open research
questions.Comment: Published in ECCV16. See the project website
http://3drepresentation.stanford.edu/ and dataset website
https://github.com/amir32002/3D_Street_Vie
Efficient Constellation-Based Map-Merging for Semantic SLAM
Data association in SLAM is fundamentally challenging, and handling ambiguity
well is crucial to achieve robust operation in real-world environments. When
ambiguous measurements arise, conservatism often mandates that the measurement
is discarded or a new landmark is initialized rather than risking an incorrect
association. To address the inevitable `duplicate' landmarks that arise, we
present an efficient map-merging framework to detect duplicate constellations
of landmarks, providing a high-confidence loop-closure mechanism well-suited
for object-level SLAM. This approach uses an incrementally-computable
approximation of landmark uncertainty that only depends on local information in
the SLAM graph, avoiding expensive recovery of the full system covariance
matrix. This enables a search based on geometric consistency (GC) (rather than
full joint compatibility (JC)) that inexpensively reduces the search space to a
handful of `best' hypotheses. Furthermore, we reformulate the commonly-used
interpretation tree to allow for more efficient integration of clique-based
pairwise compatibility, accelerating the branch-and-bound max-cardinality
search. Our method is demonstrated to match the performance of full JC methods
at significantly-reduced computational cost, facilitating robust object-based
loop-closure over large SLAM problems.Comment: Accepted to IEEE International Conference on Robotics and Automation
(ICRA) 201
Multiple Moving Object Recognitions in video based on Log Gabor-PCA Approach
Object recognition in the video sequence or images is one of the sub-field of
computer vision. Moving object recognition from a video sequence is an
appealing topic with applications in various areas such as airport safety,
intrusion surveillance, video monitoring, intelligent highway, etc. Moving
object recognition is the most challenging task in intelligent video
surveillance system. In this regard, many techniques have been proposed based
on different methods. Despite of its importance, moving object recognition in
complex environments is still far from being completely solved for low
resolution videos, foggy videos, and also dim video sequences. All in all,
these make it necessary to develop exceedingly robust techniques. This paper
introduces multiple moving object recognition in the video sequence based on
LoG Gabor-PCA approach and Angle based distance Similarity measures techniques
used to recognize the object as a human, vehicle etc. Number of experiments are
conducted for indoor and outdoor video sequences of standard datasets and also
our own collection of video sequences comprising of partial night vision video
sequences. Experimental results show that our proposed approach achieves an
excellent recognition rate. Results obtained are satisfactory and competent.Comment: 8,26,conferenc
Review of research in feature-based design
Research in feature-based design is reviewed. Feature-based design is regarded as a key factor towards CAD/CAPP integration from a process planning point of view. From a design point of view, feature-based design offers possibilities for supporting the design process better than current CAD systems do. The evolution of feature definitions is briefly discussed. Features and their role in the design process and as representatives of design-objects and design-object knowledge are discussed. The main research issues related to feature-based design are outlined. These are: feature representation, features and tolerances, feature validation, multiple viewpoints towards features, features and standardization, and features and languages. An overview of some academic feature-based design systems is provided. Future research issues in feature-based design are outlined. The conclusion is that feature-based design is still in its infancy, and that more research is needed for a better support of the design process and better integration with manufacturing, although major advances have already been made
Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age
Simultaneous Localization and Mapping (SLAM)consists in the concurrent
construction of a model of the environment (the map), and the estimation of the
state of the robot moving within it. The SLAM community has made astonishing
progress over the last 30 years, enabling large-scale real-world applications,
and witnessing a steady transition of this technology to industry. We survey
the current state of SLAM. We start by presenting what is now the de-facto
standard formulation for SLAM. We then review related work, covering a broad
set of topics including robustness and scalability in long-term mapping, metric
and semantic representations for mapping, theoretical performance guarantees,
active SLAM and exploration, and other new frontiers. This paper simultaneously
serves as a position paper and tutorial to those who are users of SLAM. By
looking at the published research with a critical eye, we delineate open
challenges and new research issues, that still deserve careful scientific
investigation. The paper also contains the authors' take on two questions that
often animate discussions during robotics conferences: Do robots need SLAM? and
Is SLAM solved
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