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OBJECT DETECTION USING HIERARCHICAL GRAPH-BASED SEGMENTATION

OBJECT DETECTION USING HIERARCHICAL GRAPH-BASED SEGMENTATION

引用

IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： Kim, Jungho Choi, Byeongho Kweon, In-So Multimedia IP Research Center KETI Robotics and Computer Vision Lab. KAIST

ISBN: (纸本)9781479903566

Object detection in real images or videos is challenging because the shapes and sizes of objects vary significantly according to their poses, camera viewing direction, and partial occlusion. Previous detection methods employ sliding-window-based schemes that scan windows across an image, requiring many differently shaped windows to capture shape and size variation. In order to solve this problem, we propose an object detection method using hierarchical graph-based segmentation: color-consistent parts are obtained by part-level segmentation and category-consistent regions are found using object-level segmentation. Thus we can avoid scanning a lot of windows across whole images by using part-level segmentation and robustly detect the objects of various shapes and sizes by using object-level segmentation. In addition, we evaluate detection performance using various classifiers with our detection approach.

关键词： Object detection Object classification Graph-based segmentation

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Support Aggregation via Non-linear Diffusion with Disparity-Dependent Support-Weights for Stereo Matching

引用

9th Asian Conference on computer vision

作者： Yoon, Kuk-Jin Jeong, Yekeun Kweon, In So Computer Vision Lab. Dept. Information and Communications GIST South Korea Robotics and Computer Vision Lab. KAIST South Korea

ISBN: (纸本)9783642123061

In stereo matching, homogeneous areas, depth continuity areas, and occluded areas need more attention. Many methods try to handle pixels in homogeneous areas by propagating supports. As a result, pixels in homogeneous areas get assigned disparities inferred from the disparities of neighboring pixels. However, at the same time, pixels in depth discontinuity areas get supports from different depths and/or from occluded pixels, and resultant disparity maps are easy to be blurred. To resolve this problem, we propose a non-linear diffusion-based support aggregation method. Supports are iteratively aggregated with the support-weights, while adjusting the support-weights according to disparities to prevent incorrect supports from different depths and/or occluded pixels. As a result, the proposed method yields good results not only in homogeneous areas but also in depth discontinuity areas as the iteration goes on without the critical degradation of performance.

关键词： Pixels

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Globally optimal manhattan frame estimation in real-time

Globally optimal manhattan frame estimation in real-time

引用

2016 IEEE Conference on computer vision and Pattern Recognition, CVPR 2016

作者： Joo, Kyungdon Oh, Tae-Hyun Kim, Junsik Kweon, In So Robotics and Computer Vision Lab. KAIST Korea Republic of

ISBN: (纸本)9781467388511

Given a set of surface normals, we pose a Manhattan Frame (MF) estimation problem as a consensus set maximization that maximizes the number of inliers over the rotation search space. We solve this problem through a branchand-bound framework, which mathematically guarantees a globally optimal solution. However, the computational time of conventional branch-and-bound algorithms are intractable for real-time performance. In this paper, we propose a novel bound computation method within an efficient measurement domain for MF estimation, i.e., the extended Gaussian image (EGI). By relaxing the original problem, we can compute the bounds in real-time, while preserving global optimality. Furthermore, we quantitatively and qualitatively demonstrate the performance of the proposed method for synthetic and real-world data. We also show the versatility of our approach through two applications: extension to multiple MF estimation and video stabilization.

关键词： Problem solving

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Stereo matching with the distinctive similarity measure

Stereo matching with the distinctive similarity measure

引用

11th IEEE International Conference on computer vision

作者： Yoon, Kuk-Jin Kweon, In So Perception Team INRIA Rhône-Alpes France Robotics and Computer Vision Lab. KAIST South Korea

ISBN: (纸本)9781424416301

The point ambiguity owing to the ambiguous local appearances of image points is the one of the main causes making the stereo problem difficult. Under the point ambiguity, local similarity measures are easy to be ambiguous and this results in false matches in ambiguous regions. In this paper, we present the new similarity measure to resolve the point ambiguity problem based on the idea that the distinctiveness, not the interest, is the appropriate criterion for the feature selection under the point ambiguity. The proposed similarity measure named the Distinctive Similarity Measure (DSM) is essentially based on the distinctiveness of image points and the dissimilarity between them, which are both closely related to the local appearances of image points;the distinctiveness of an image point is related to the probability of a mismatch while the dissimilarity is related to the probability of a good match. We verify the efficiency of the proposed DSM by using testbed image sets. Experimental results show that the proposed DSM is very effective and can be easily used for improving the performance of existing stereo methods under the point ambiguity.

关键词： Stereo image processing

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Probabilistic matching of line segments for their homography

Probabilistic matching of line segments for their homography

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作者： Woo, Jihwan Kim, Taemin Kweon, In So Robotics and Computer Vision Lab. School of EECS KAIST Korea Republic of

ISBN: (纸本)9781424421756

Finding correspondences of two images taken from largely different camera configuration is a challenging problem because appearance information such as color, intensity and edge orientation histogram cannot be used. A probabilistic approach to match line segments in the images is proposed for calculating their homography. A membership matrix to represent contribution of every match to the homography is employed. A relaxed version of forward stepwise regression is derived and the test statistic is optimized. An alternating scheme for optimizing the membership and homography is provided. The simulation results on synthetic images validate the proposed method. © 2008 IEEE.

关键词： Statistical tests

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Correspondence search in the presence of specular highlights using specular-free two-band images

Correspondence search in the presence of specular highlights...

引用

7th Asian Conference on computer vision, ACCV 2006

作者： Yoon, Kuk-Jin Kweon, In-So Robotics and Computer Vision Lab. Dept. Electrical Engineering and Computer Science KAIST Korea Republic of

In this paper, we present a new method to deal with specular high-lights in correspondence search. The proposed method is essentially based on the specular-free two-band image that we introduce to deal with specular reflection. For given input images, specular-free two-band images are generated using simple pixel-wise computations in real-time. Specular-free two-band images are then used to compute per-pixel raw matching costs. By using the specular-free two-band images instead of input images, reliable raw matching costs that are independent of the specularities of image pixels are obtained. As a result, we can find correct correspondences even in the presence of specular highlights. Experimental results show that the proposed method successfully produces accurate disparity maps for stereo images with specular highlights. © Springer-Verlag Berlin Heidelberg 2006.

关键词： Image analysis

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Stereo matching with color and monochrome cameras in low-light conditions

Stereo matching with color and monochrome cameras in low-lig...

引用

2016 IEEE Conference on computer vision and Pattern Recognition, CVPR 2016

作者： Jeon, Hae-Gon Lee, Joon-Young Im, Sunghoon Ha, Hyowon Kweon, In So Robotics and Computer Vision Lab. KAIST Korea Republic of Adobe Research United States

ISBN: (纸本)9781467388511

Consumer devices with stereo cameras have become popular because of their low-cost depth sensing capability. However, those systems usually suffer from low imaging quality and inaccurate depth acquisition under low-light conditions. To address the problem, we present a new stereo matching method with a color and monochrome camera pair. We focus on the fundamental trade-off that monochrome cameras have much better light-efficiency than color-filtered cameras. Our key ideas involve compensating for the radiometric difference between two crossspectral images and taking full advantage of complementary data. Consequently, our method produces both an accurate depth map and high-quality images, which are applicable for various depth-aware image processing. Our method is evaluated using various datasets and the performance of our depth estimation consistently outperforms state-of-the-art methods.

关键词： Stereo image processing

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Dichromatic-based color constancy using dichromatic slope and dichromatic line space

Dichromatic-based color constancy using dichromatic slope an...

引用

IEEE International Conference on Image Processing 2005, ICIP 2005

作者： Yoon, Kuk-Jin Choi, Yoo Jin Kweon, In-So Robotics and Computer Vision Lab. Dept. of EECS KAIST Korea Republic of Mobile Multimedia Lab. LG Electronics Institute of Technology

ISBN: (纸本)0780391349

In this paper, we present a new dichromatic-based method for estimating illuminant chromaticity using a single image. In the proposed method, specular pixels are roughly extracted from an input image and projected into the three-dimensional dichromatic line space according to their image chromaticities and dichromatic slopes. Reliable dichromatic lines are then obtained by detecting local maxima in the dichromatic line space. Illuminant chromaticity is finally estimated by finding the intersections of the resulting dichromatic lines. The proposed method has some advantages. The proposed method can deal with highly textured images since it does not require precise color segmentation. In addition, the proposed method does not suffer from nearly parallel dichromatic lines and it can estimate artificial illuminant chromaticity. © 2005 IEEE.

关键词： Image analysis

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Coping with stress using social robots as emotion-oriented tool: Potential factors discovered from stress game experiment

Coping with stress using social robots as emotion-oriented t...

引用

5th International Conference on Social robotics, ICSR 2013

作者： Dang, Thi-Hai-Ha Tapus, Adriana Robotics and Computer Vision Lab. ENSTA-Paristech France

ISBN: (纸本)9783319026749

It is known from psychology that humans cope with stress by either changing stress-induced situations (which is called problemoriented coping strategy) or by changing his/her internal perception about the stress-induced situations (which is called emotion-oriented coping strategy). Social robots, as emerging tools that have abilities to socially interact with humans, can be of great use to help people coping with stress. The paper discusses some recent studies about ways of dealing with stress in stressful situations by using social robots. Moreover, we focus on presenting our experimental design and the discovered factors that can allow social robots to assist humans in dealing with stress in an emotion-oriented manner. © Springer International Publishing 2013.

关键词： Machine design

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Efficient 3D hand tracking in articulation subspaces for the manipulation of virtual objects 16

Efficient 3D hand tracking in articulation subspaces for the...

引用

33rd computer Graphics International Conference, CGI 2016

作者： Park, Gabyong Argyros, Antonis Woo, Woontack KAIST GSCT UVR Lab. Daejeon Korea Republic of Computational Vision and Robotics Lab. Institute of Computer Science FORTH University of Crete Greece

ISBN: (纸本)9781450341233

We propose an efficient method for model-based 3D tracking of hand articulations observed from an egocentric viewpoint that aims at supporting the manipulation of virtual objects. Previous modelbased approaches optimize non-convex objective functions defined in the 26 Degrees of Freedom (DoFs) space of pobible hand articulations. In our work, we decompose this space into six articulation subspaces (6 DoFs for the palm and 4 DoFs for each finger). We also lab.l each finger with a Gaubian model that is propagated between succebive image frames. As confirmed by a number of experiments, this divide-and-conquer approach tracks hand articulations more accurately than existing model-based approaches. At the same time, real time performance is achieved without the need of GPGPU procebing. Additional experiments show that the proposed approach is preferable for supporting the accurate manipulation of virtual objects in VR/AR scenarios. © 2016 ACM.

关键词： Degrees of freedom (mechanics)

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