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Generic fusion of visual cues applied to real-world object segmentation
KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP.
2005 (Engelska)Ingår i: 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-4, 2005, 2954-2959 s.Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

Fusion of information from different complementary sources may be necessary to achieve a robust sensing system that degrades gracefully under various conditions. Many approaches use a specific tailor-made combination of algorithms that do not easily allow the inclusion of more, or other, types of algorithms. In this paper, we explore a variant of a generic algorithm for fusing visual cues to the task of object segmentation in a video stream. The fusion algorithm combines the output of several segmentation algorithms in a straight forward way by using a bayesian approach and a particle filter to track several hypotheses. Segmentation algorithms can be added or removed without changing the over all structure of the system. It was or particular interest to investigate if the method was suitable when realistic real-world scenes with much noise was analysed. The system has been tested on image sequences taken from a moving vehicle where stationary and moving objects are successfully segmented from the background. In conclusion, the fusion algorithm explored is well suited to this problem domain and is easily adopted. The context of this work is on-line pedestrian detection to be deployed in cars.

Ort, förlag, år, upplaga, sidor
2005. 2954-2959 s.
Nationell ämneskategori
Data- och informationsvetenskap
Identifikatorer
URN: urn:nbn:se:kth:diva-43370DOI: 10.1109/IROS.2005.1545425ISI: 000235632102146Scopus ID: 2-s2.0-79958017864ISBN: 0-7803-8912-3 (tryckt)OAI: oai:DiVA.org:kth-43370DiVA: diva2:448175
Konferens
IEEE/RSJ International Conference on Intelligent Robots and Systems Location: Edmonton, CANADA Date: AUG 02-06, 2005
Anmärkning
QC 20111014Tillgänglig från: 2011-10-14 Skapad: 2011-10-14 Senast uppdaterad: 2011-10-14Bibliografiskt granskad

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Arnell, Fredrik
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Datorseende och robotik, CVAP
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