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Depth SEEDS: Recovering Incomplete Depth Data using Superpixels

Depth SEEDS: Recovering Incomplete Depth Data using Superpix...

引用

IEEE workshop on Applications of computer vision (WACV)

作者： Van den Bergh, Michael Carton, Daniel Van Gool, Luc Swiss Fed Inst Technol Zurich Switzerland Tech Univ Munich D-80290 Munich Germany Katholieke Univ Leuven Leuven Belgium

ISBN: (纸本)9781467350532;9781467350525

Depth sensors have become increasingly popular in interactive computer vision applications. Currently, most of these applications are limited to indoor use. Popular IR-based depth sensors cannot provide depth data when exposed to sunlight. In these cases, one can still obtain depth information using a stereo camera set up or a special outdoor Time-of-Flight camera, at the cost of a reduced quality of the depth image. The resulting depth images are often incomplete and suffer from low resolution, noise and missing information. The aim of this paper is to recover the missing depth information based on an extension of SEEDS superpixels [11]. The superpixel segmentation algorithm is extended to take depth information into account where available. The approach takes advantage of the boundary-updating property of SEEDS. The result is a clean segmentation that recovers the missing depth information in a low-quality depth image. We test the approach outdoors on an interactive urban robot. The system is used to segment a person in front of the robot, and to detect body parts for interaction with the robot using pointing gestures.

关键词： cameras gesture recognition human-robot interaction image segmentation robot vision stereo image processing

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How interaction methods affect image segmentation: user experience in the task

How interaction methods affect image segmentation: User expe...

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2013 1st IEEE workshop on user-Centered computer vision, UCCV 2013

作者： Hebbalaguppe, Ramya McGuinness, Kevin Kuklyte, Jogile Healy, Graham Noel o'Connor and Alan Smeaton Center for Digital Video Processing CLARITY Dublin City University Ireland

ISBN: (纸本)9781467356756

Interactive image segmentation is extensively used in photo editing when the aim is to separate a foreground object from its background so that it is available for various applications. The goal of the interaction is to get an accurate segmentation of the object with the minimal amount of human effort. To improve the usability and user experience using interactive image segmentation we present three interaction methods and study the effect of each using both objective and subjective metrics, such as, accuracy, amount of effort needed, cognitive load and preference of interaction method as voted by users. The novelty of this paper is twofold. First, the evaluation of interaction methods is carried out with objective metrics such as object and boundary accuracies in tandem with subjective metrics to cross check if they support each other. Second, we analyze Electroencephalography (EEG) data obtained from subjects performing the segmentation as an indicator of brain activity. The experimental results potentially give valuable cues for the development of easy-to-use yet efficient interaction methods for image segmentation. © 2013 IEEE.

关键词： Image segmentation

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Automatic selection of regions of interest in a video by a depth-color image matting 13

Automatic selection of regions of interest in a video by a d...

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International workshop on Video and Image Ground Truth in computer vision Applications, VIGTA 2013

作者： Cinque, Luigi Dondi, Piercarlo Lombardi, Luca Dept. of Computer Science Sapienza University of Roma Via Salaria 113 00198 Roma Italy Dept. of Electrical Computer and Biomedical Engineering University of Pavia Via Ferrata 1 27100 Pavia Italy

ISBN: (纸本)9781450321693

The automatic detection of regions of interest in a video is fundamental for a fast generation of many ground truth images. In this paper we introduce a new solution for selecting regions of interest based on an automatic image matting method. Image matting is a set of techniques designed to obtain a precise separation of background and foreground in image or video sequences. Basically all the matting approaches need a direct human interaction, there are only few total automatic solutions. To achieve this goal we combine two different video streams: the color one and the depth one. In particular, we use an automatic depth based segmentation to substitute the human input in the Soft Scissors, one of the most precise matting algorithm. The overall efficiency is achieved using the Nvidia CUDA architecture to execute the most computational intensive sections of algorithm. The result of the matting can be used as a ground truth for successive elaborations. © 2013 ACM.

关键词： Computational efficiency

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How interaction methods affect image segmentation: user experience in the task

How interaction methods affect image segmentation: User expe...

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IEEE workshop on user-Centered computer vision (UCCV)

作者： R. Hebbalaguppe K. McGuinness J. Kuklyte G. Healy Noel O'Connor Alan Smeaton Center for Digital Video Processing CLARITY Dublin City University

ISBN: (纸本)9781467356756

关键词： Image segmentation Accuracy Electroencephalography Rhythm Feature extraction Time measurement

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Adaptive and safe mobile manipulator for human robot interaction

Adaptive and safe mobile manipulator for human robot interac...

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IEEE workshop on Robotic Intelligence in Informationally Structured Space, RIISS

作者： Amal Meddahi Ryad Chellali Pattern Analysis and Computer Vision Laboratory Istituto Italiano di Tecnologia Università degli Studi di Genova Genova Italy Pattern Analysis and Computer Vision Laboratory Istituto Italiano di Tecnologia Genova Italy

Mobile robotic manipulators will be more and more present in our daily life. Many applications use already these platforms such as for homecare, industrial logistics, etc. and most of the time with in vicinity of humans, within dynamic and unknown environments. This poses the problem of adaptability and safety: robots should adapt to support a wide range of human users behaviors, with a strong guaranty of users' safety. In addition, such functions should take place with environments that are dynamic and not known a priori. This contribution reports on the mobile manipulator we are developing. We focus on solving the safe path planning problem for both the robot base and the robot manipulator in the presence of humans and dynamic obstacles: a safety distance should be strictly maintained by the robot with regard to the person involved in the interactive task as well as with any other person or moving object potentially colliding with the robot while performing the assigned task. These two requirements are achieved in real time by a multi-objective optimization that controls the base and the manipulator based on the task definition and the sensing data provided by the embedded sensors. Simulated scenarios have been tested and the obtained results are presented and discussed.

关键词： Robot kinematics Mobile communication Robot sensing systems Manipulator dynamics Mobile robots

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Fast planar object detection and tracking via edgel templates

Fast planar object detection and tracking via edgel template...

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2012 IEEE workshop on the Applications of computer vision, WACV 2012

作者： Lee, Taehee Soatto, Stefano Computer Science Department University of California Los Angeles United States

ISBN: (纸本)9781467302333

We describe an efficient method to detect and track planar objects using a template of edge segments. Such segments are selected at multiple scales based on gradient magnitude;their positions and orientations are used to determine a canonical reference frame where the descriptor is computed based on quantized orientation. The resulting descriptors are efficiently matched using logical operations, and tracked between frames. The method yields pose estimates that are robust to scale changes, foreshortening, partial occlusions, and is suitable for use in augmented reality and human-computer interaction. © 2012 IEEE.

关键词： Augmented reality

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What would you like to drink? Recognising and planning with social states in a robot bartender domain

What would you like to drink? Recognising and planning with ...

引用

2012 AAAI workshop

作者： Petrick, Ronald P. A. Foster, Mary Ellen School of Informatics University of Edinburgh Edinburgh EH8 9AB United Kingdom School of Mathematical and Computer Sciences Heriot-Watt University Edinburgh EH14 4AS United Kingdom

ISBN: (纸本)9781577355717

A robot coexisting with humans must not only be able to successfully perform physical tasks, but must also be able to interact with humans in a socially appropriate manner. In many social settings, this involves the use of social signals like gaze, facial expression, and language. In this paper we discuss preliminary work focusing on the problem of combining social interaction with task-based action in a dynamic, multiagent bartending domain, using an embodied robot. We discuss how social states are inferred from low-level sensors, using vision and speech as input modalities, and present a planning approach that models task, dialogue, and social actions in a simple bartending scenario. This approach allows us to build interesting plans, which have been evaluated in a real-world study with human subjects, using a general purpose, off-the-shelf planner, as an alternative to more mainstream methods of interaction management.

关键词： Robot programming

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Deriving configuration interfaces from feature models: A vision paper 12

Deriving configuration interfaces from feature models: A vis...

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6th International workshop on Variability Modeling of Software-Intensive Systems, VaMoS'12

作者： Boucher, Quentin Perrouin, Gilles Heymans, Patrick PReCISE Research Centre Faculty of Computer Science University of Namur Belgium INRIA Lille-Nord Europe Université Lille 1 CNRS France

ISBN: (纸本)9781450310581

In software product lines, feature models are the de-facto standard for representing variability as well as for configuring products. Yet, configuration relying on feature models faces two issues: i) it assumes knowledge of the underlying formalism, which may not be true for end users and ii) it does not take advantage of advanced user-interface controls, leading to usability and integration problems with other parts of the user interface. To address these issues, our research focuses on the generation of configuration interfaces based on variability models, both from the visual and behavioral perspectives. We tackle visual issues by generating abstract user-interfaces from feature models. Regarding configuration behavior, in particular the configuration sequence, we plan to use feature configuration workows, variability-aware models that exhibit similar characteristics as of task, user, discourse and business models found in the in the human-computer interaction community. This paper discusses the main challenges and possible solutions to realize our vision. Copyright 2012 ACM.

关键词： user interfaces

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Fast planar object detection and tracking via edgel templates

Fast planar object detection and tracking via edgel template...

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IEEE workshop on Applications of computer vision (WACV)

作者： Taehee Lee Stefano Soatto Computer Science Department University of California Los Angeles USA

We describe an efficient method to detect and track planar objects using a template of edge segments. Such segments are selected at multiple scales based on gradient magnitude; their positions and orientations are used to determine a canonical reference frame where the descriptor is computed based on quantized orientation. The resulting descriptors are efficiently matched using logical operations, and tracked between frames. The method yields pose estimates that are robust to scale changes, foreshortening, partial occlusions, and is suitable for use in augmented reality and human-computer interaction.

关键词： Image edge detection Estimation Object detection Real time systems Augmented reality Gray-scale Instruction sets

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AirTouch: Interacting with computer systems at a distance

AirTouch: Interacting with computer systems at a distance

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2011 IEEE workshop on Applications of computer vision, WACV 2011

作者： Schlegel, Daniel R. Chen, Albert Y.C. Xiong, Caiming Delmerico, Jeffrey A. Corso, Jason J. Dept. of Computer Science and Engineering SUNY Buffalo United States

ISBN: (纸本)9781424494965

We present AirTouch, a new vision-based interaction system. AirTouch uses computer vision techniques to extend commonly used interaction metaphors, such as multitouch screens, yet removes any need to physically touch the display. The user interacts with a virtual plane that rests in between the user and the display. On this plane, hands and fingers are tracked and gestures are recognized in a manner similar to a multitouch surface. Many of the other vision and gesture-based human-computer interaction systems presented in the literature have been limited by requirements that users do not leave the frame or do not perform gestures accidentally, as well as by cost or specialized equipment. AirTouch does not suffer from these drawbacks. Instead, it is robust, easy to use, builds on a familiar interaction paradigm, and can be implemented using a single camera with off-the-shelf equipment such as a webcam-enabled laptop. In order to maintain usability and accessibility while minimizing cost, we present a set of basic AirTouch guidelines. We have developed two interfaces using these guidelines - one for general computer interaction, and one for searching an image database. We present the workings of these systems along with observational results regarding their usability. © 2010 IEEE.

关键词： human computer interaction

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