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YES - YEt another object Segmentation: exploiting camera movement
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.
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: 0000-0003-0579-3372
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
2012 (English)In: Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, IEEE , 2012, 2116-2121 p.Conference paper, Published paper (Refereed)
Abstract [en]

We address the problem of object segmentation in image sequences where no a-priori knowledge of objects is assumed. We take advantage of robots' ability to move, gathering multiple images of the scene. Our approach starts by extracting edges, uses a polar domain representation and performs integration over time based on a simple dilation operation. The proposed system can be used for providing reliable initial segmentation of unknown objects in scenes of varying complexity, allowing for recognition, categorization or physical interaction with the objects. The experimental evaluation on both self-captured and a publicly available dataset shows the efficiency and stability of the proposed method.

Place, publisher, year, edition, pages
IEEE , 2012. 2116-2121 p.
Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
Keyword [en]
Camera movement, Data sets, Dilation operation, Domain representations, Experimental evaluation, Image sequence, Initial segmentation, Multiple image, Object segmentation, Physical interactions, Unknown objects
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:kth:diva-123455DOI: 10.1109/IROS.2012.6385890ISI: 000317042702103ISBN: 978-1-4673-1736-8 (print)OAI: oai:DiVA.org:kth-123455DiVA: diva2:630065
Conference
25th IEEE\RSJ International Conference on Intelligent Robots and Systems (IROS), OCT 07-12, 2012, Algarve, PORTUGAL
Note

QC 20130618

Available from: 2013-06-18 Created: 2013-06-10 Last updated: 2013-06-18Bibliographically approved

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Björkman, MårtenKragic, Danica

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