NDLI: Accurate Human-Limb Segmentation in RGB-D Images for Intelligent Mobility Assistance Robots

Content Provider	IEEE Xplore Digital Library
Author	Chandra, Siddhartha Tsogkas, Stavros Kokkinos, Iasonas
Copyright Year	2015
Abstract	Mobility impairment is one of the biggest challenges faced by elderly people in today's society. The inability to move about freely poses severe restrictions on their independence and general quality of life. This work is dedicated to developing intelligent robotic platforms that assist users to move without requiring a human attendant. This work was done in the context of an EU project involved in developing an intelligent robot for elderly user assistance. The robot is equipped with a Kinect sensor, and the vision component of the project has the responsibility of locating the user, estimating the user's pose, and recognizing gestures by the user. All these goals can take advantage of a method that accurately segments human-limbs in the colour (RGB) and depth (D) images captured by the Kinect sensor. We exploit recent advances in deep-learning to develop a system that performs accurate semantic segmentation of human limbs using colour and depth images. Our novel technical contributions are the following: 1) we describe a scheme for manual annotation of videos, that eliminates the need to annotate segmentation masks in every single frame, 2) we extend a state of the art deep learning system for semantic segmentation, to exploit diverse RGB and depth data, in a single framework for training and testing, 3) we evaluate different variants of our system and demonstrate promising performance, as well the contribution of diverse data, on our in-house Human-Limb dataset. Our method is very efficient, running at 8 frames per second on a GPU.
Starting Page	436
Ending Page	442
File Size	755944
Page Count	7
File Format	PDF
e-ISBN	9781467397117
DOI	10.1109/ICCVW.2015.64
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-12-07
Publisher Place	Chile
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Training Image segmentation Head Semantics Robots Videos Testing
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
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7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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