NDLI: Building facade detection, segmentation, and parameter estimation for mobile robot localization and guidance

Content Provider	IEEE Xplore Digital Library
Author	Delmerico, J.A. David, P. Corso, J.J.
Copyright Year	2011
Description	Author affiliation: SUNY at Buffalo, USA (Delmerico, J.A.; Corso, J.J.) \|\| Army Research Laboratory, Adelphi, Maryland, USA (David, P.)
Abstract	Building facade detection is an important problem in computer vision, with applications in mobile robotics and semantic scene understanding. In particular, mobile platform localization and guidance in urban environments can be enabled with an accurate segmentation of the various building facades in a scene. Toward that end, we present a system for segmenting and labeling an input image that for each pixel, seeks to answer the question “Is this pixel part of a building facade, and if so, which one?” The proposed method determines a set of candidate planes by sampling and clustering points from the image with Random Sample Consensus (RANSAC), using local normal estimates derived from Principal Component Analysis (PCA) to inform the planar model. The corresponding disparity map and a discriminative classification provide prior information for a two-layer Markov Random Field model. This MRF problem is solved via Graph Cuts to obtain a labeling of building facade pixels at the mid-level, and a segmentation of those pixels into particular planes at the high-level. The results indicate a strong improvement in the accuracy of the binary building detection problem over the discriminative classifier alone, and the planar surface estimates provide a good approximation to the ground truth planes.
Starting Page	1632
Ending Page	1639
File Size	749247
Page Count	8
File Format	PDF
ISBN	9781612844541
ISSN	21530858
e-ISBN	9781612844565
DOI	10.1109/IROS.2011.6094778
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Labeling Buildings Cameras Image segmentation Computational modeling Principal component analysis Three dimensional displays
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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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