2,359 research outputs found
Semantic labeling of places
Indoor environments can typically be divided into places with different
functionalities like corridors, kitchens, offices, or seminar rooms. We believe that
such semantic information enables a mobile robot to more efficiently accomplish a
variety of tasks such as human-robot interaction, path-planning, or localization. In
this paper, we propose an approach to classify places in indoor environments into
different categories. Our approach uses AdaBoost to boost simple features extracted from vision and laser range data. Furthermore,we apply a Hidden Markov Model to take spatial dependencies between robot poses into account and to increase the robustness of the classification. Our technique has been implemented and tested on real robots as well as in simulation. Experiments presented in this paper demonstrate that our approach can be utilized to robustly classify places into semantic categories
DA-RNN: Semantic Mapping with Data Associated Recurrent Neural Networks
3D scene understanding is important for robots to interact with the 3D world
in a meaningful way. Most previous works on 3D scene understanding focus on
recognizing geometrical or semantic properties of the scene independently. In
this work, we introduce Data Associated Recurrent Neural Networks (DA-RNNs), a
novel framework for joint 3D scene mapping and semantic labeling. DA-RNNs use a
new recurrent neural network architecture for semantic labeling on RGB-D
videos. The output of the network is integrated with mapping techniques such as
KinectFusion in order to inject semantic information into the reconstructed 3D
scene. Experiments conducted on a real world dataset and a synthetic dataset
with RGB-D videos demonstrate the ability of our method in semantic 3D scene
mapping.Comment: Published in RSS 201
Volume-based Semantic Labeling with Signed Distance Functions
Research works on the two topics of Semantic Segmentation and SLAM
(Simultaneous Localization and Mapping) have been following separate tracks.
Here, we link them quite tightly by delineating a category label fusion
technique that allows for embedding semantic information into the dense map
created by a volume-based SLAM algorithm such as KinectFusion. Accordingly, our
approach is the first to provide a semantically labeled dense reconstruction of
the environment from a stream of RGB-D images. We validate our proposal using a
publicly available semantically annotated RGB-D dataset and a) employing ground
truth labels, b) corrupting such annotations with synthetic noise, c) deploying
a state of the art semantic segmentation algorithm based on Convolutional
Neural Networks.Comment: Submitted to PSIVT201
Reconstructive Sparse Code Transfer for Contour Detection and Semantic Labeling
We frame the task of predicting a semantic labeling as a sparse
reconstruction procedure that applies a target-specific learned transfer
function to a generic deep sparse code representation of an image. This
strategy partitions training into two distinct stages. First, in an
unsupervised manner, we learn a set of generic dictionaries optimized for
sparse coding of image patches. We train a multilayer representation via
recursive sparse dictionary learning on pooled codes output by earlier layers.
Second, we encode all training images with the generic dictionaries and learn a
transfer function that optimizes reconstruction of patches extracted from
annotated ground-truth given the sparse codes of their corresponding image
patches. At test time, we encode a novel image using the generic dictionaries
and then reconstruct using the transfer function. The output reconstruction is
a semantic labeling of the test image.
Applying this strategy to the task of contour detection, we demonstrate
performance competitive with state-of-the-art systems. Unlike almost all prior
work, our approach obviates the need for any form of hand-designed features or
filters. To illustrate general applicability, we also show initial results on
semantic part labeling of human faces.
The effectiveness of our approach opens new avenues for research on deep
sparse representations. Our classifiers utilize this representation in a novel
manner. Rather than acting on nodes in the deepest layer, they attach to nodes
along a slice through multiple layers of the network in order to make
predictions about local patches. Our flexible combination of a generatively
learned sparse representation with discriminatively trained transfer
classifiers extends the notion of sparse reconstruction to encompass arbitrary
semantic labeling tasks.Comment: to appear in Asian Conference on Computer Vision (ACCV), 201
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