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Active 3D scene segmentation and detection of unknown objects
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0003-0579-3372
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0003-2965-2953
2010 (English)In: IEEE International Conference on Robotics and Automation (ICRA), Anchorage, USA / [ed] Antonio Bicchi, IEEE Robotics and Automation Society, 2010, 3114-3120 p.Conference paper, Published paper (Refereed)
Abstract [en]

We present an active vision system for segmentationof visual scenes based on integration of several cues. The system serves as a visual front end for generation of object hypotheses for new, previously unseen objects in natural scenes. The system combines a set of foveal and peripheral cameraswhere, through a stereo based fixation process, object hypotheses are generated. In addition to considering the segmentation process in 3D, the main contribution of the paper is integration of different cues in a temporal framework and improvement of initial hypotheses over time.

Place, publisher, year, edition, pages
IEEE Robotics and Automation Society, 2010. 3114-3120 p.
Keyword [en]
Computer Vision, Active Vision, Segmentation
National Category
Computer Science
Identifiers
URN: urn:nbn:se:kth:diva-51379DOI: 10.1109/ROBOT.2010.5509973Scopus ID: 2-s2.0-77955798094ISBN: 978-1-4244-5038-1 (print)OAI: oai:DiVA.org:kth-51379DiVA: diva2:464064
Conference
IEEE International Conference on Robotics and Automation
Note

QC 20120111

Available from: 2012-01-11 Created: 2011-12-12 Last updated: 2013-11-20Bibliographically approved

Open Access in DiVA

bjorkman_icra10(1566 kB)368 downloads
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Type fulltextMimetype application/pdf

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