NDLI: Segmenting correlation stereo range images using surface elements

Content Provider	IEEE Xplore Digital Library
Author	Murray, D. Little, J.J.
Copyright Year	2004
Description	Author affiliation: Dept. of Comput. Sci., British Columbia Univ., Vancouver, BC, Canada (Murray, D.; Little, J.J.)
Abstract	This work describes methods for segmenting planar surfaces from noisy 3D data obtained from correlation stereo vision. We make use of local planar surface elements called patchlets. Patchlets have 3D position, orientation and size parameters. As well, they have positional confidence measures based on the stereo sensor model. Patchlet orientations (i.e., surface normals) provide important additional dimensionality that reduces the ambiguity of segmentation-by-clustering. Patchlet size allows the use of continuity or coverage constraints when segmenting bounded surfaces from depth images. We use a region-growing approach to identify the number of surfaces that exist in a stereo image and obtain an initial estimate of the surface parameters. We refine segmentation using a maximum likelihood clustering approach that is optimised with Expectation-Maximisation. Confidence measures on the patchlet parameters allow proper weighting of patchlet contributions to the solution. We provide experimental results of the segmentation on complex outdoor scenes.
Sponsorship	Univ. of Maryland Inst. for Advanced Comput. Studies (UMIACS) IEEE Comput. Soc
Starting Page	656
Ending Page	663
File Size	921984
Page Count	8
File Format	PDF
ISBN	0769522238
DOI	10.1109/TDPVT.2004.1335301
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-09-09
Publisher Place	Greece
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Image segmentation Stereo vision Intelligent robots Position measurement Maximum likelihood estimation Layout Computer vision Navigation Computer science Data mining
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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