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Attention-based Active 3D Point Cloud Segmentation

Johnson-Roberson, Matthew (author)
KTH,Centrum för Autonoma System, CAS,Datorseende och robotik, CVAP
Bohg, Jeannette, 1981- (author)
KTH,Datorseende och robotik, CVAP,Centrum för Autonoma System, CAS
Björkman, Mårten (author)
KTH,Centrum för Autonoma System, CAS,Datorseende och robotik, CVAP
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Kragic, Danica (author)
KTH,Centrum för Autonoma System, CAS,Datorseende och robotik, CVAP
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 (creator_code:org_t)
2010
2010
English.
In: IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010). - 9781424466757 ; , s. 1165-1170
  • Conference paper (peer-reviewed)
Abstract Subject headings
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  • In this paper we present a framework for the segmentation of multiple objects from a 3D point cloud. We extend traditional image segmentation techniques into a full 3D representation. The proposed technique relies on a state-of-the-art min-cut framework to perform a fully 3D global multi-class labeling in a principled manner. Thereby, we extend our previous work in which a single object was actively segmented from the background. We also examine several seeding methods to bootstrap the graphical model-based energy minimization and these methods are compared over challenging scenes. All results are generated on real-world data gathered with an active vision robotic head. We present quantitive results over aggregate sets as well as visual results on specific examples.

Subject headings

NATURVETENSKAP  -- Data- och informationsvetenskap (hsv//swe)
NATURAL SCIENCES  -- Computer and Information Sciences (hsv//eng)

Keyword

GRAPH CUTS
ENERGY MINIMIZATION
VISION
Information technology
Informationsteknik

Publication and Content Type

ref (subject category)
kon (subject category)

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