Publication
Combining semantic and geometric features for object class segmentation of indoor scenes
Journal Article (2017)
Journal
IEEE Robotics and Automation Letters
Pages
49-55
Volume
2
Number
1
Doc link
http://dx.doi.org/10.1109/LRA.2016.2532927
File
Authors
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Husain, Syed Farzad
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Schulz , Hannes
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Dellen, Babette
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Torras Genís, Carme
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Behnke , Sven
Projects associated
Abstract
Scene understanding is a necessary prerequisite for robots acting autonomously in complex environments. Low-cost RGB-D cameras such as Microsoft Kinect enabled new methods for analyzing indoor scenes and are now ubiquitously used in indoor robotics. We investigate strategies for efficient pixelwise object class labeling of indoor scenes that combine both pretrained semantic features transferred from a large color image dataset and geometric features, computed relative to the room structures, including a novel distance-from-wall feature, which encodes the proximity of scene points to a detected major wall of the room. We evaluate our approach on the popular NYU v2 dataset. Several deep learning models are tested, which are designed to exploit different characteristics of the data. This includes feature learning with two different pooling sizes. Our results indicate that combining semantic and geometric features yields significantly improved results for the task of object class segmentation.
Categories
computer vision, pattern recognition.
Author keywords
Semantic scene understanding, categorization, segmentation
Scientific reference
F. Husain, H. Schulz, B. Dellen, C. Torras and S. Behnke. Combining semantic and geometric features for object class segmentation of indoor scenes. IEEE Robotics and Automation Letters, 2(1): 49-55, 2017.
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