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Semantic map segmentation using function-based energy maximization
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.
2012 (English)In: 2012 IEEE International Conference on Robotics and Automation (ICRA), IEEE Computer Society, 2012, 4066-4073 p.Conference paper, Published paper (Refereed)
Abstract [en]

This work describes the automatic segmentation of 2-dimensional indoor maps into semantic units along lines of spatial function, such as connectivity or objects used for certain tasks. Using a conceptually simple and readily extensible energy maximization framework, segmentations similar to what a human might produce are demonstrated on several real-world datasets. In addition, it is shown how the system can perform reference resolution by adding corresponding potentials to the energy function, yielding a segmentation that responds to the context of the spatial reference.

Place, publisher, year, edition, pages
IEEE Computer Society, 2012. 4066-4073 p.
Series
IEEE International Conference on Robotics and Automation, ISSN 2152-4092
Keyword [en]
Automatic segmentations, Energy functions, Energy maximization, Real-world datasets, Reference resolution, Semantic map, Semantic units, Spatial functions, Spatial reference, Robotics, Semantics
National Category
Computer and Information Science
Identifiers
URN: urn:nbn:se:kth:diva-101529DOI: 10.1109/ICRA.2012.6224811ISI: 000309406704013Scopus ID: 2-s2.0-84864460779ISBN: 978-1-4673-1405-3 (print)OAI: oai:DiVA.org:kth-101529DiVA: diva2:549304
Conference
IEEE International Conference on Robotics and Automation (ICRA) Location: St Paul, MN Date: May 14-18, 2012
Note

QC 20120904

Available from: 2012-09-04 Created: 2012-08-30 Last updated: 2013-10-01Bibliographically approved

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf