NDLI: Label propagation in videos indoors with an incremental non-parametric model update

Content Provider	IEEE Xplore Digital Library
Author	Rituerto, J. Murillo, A. C. Kosecka, J.
Copyright Year	2011
Description	Author affiliation: Dpt. of Computer Science at George Mason University, VA, USA (Kosecka, J.) \|\| DIIS and Instituto de Investigación en Ingeniería de Aragón at the University of Zaragoza, Spain (Rituerto, J.; Murillo, A. C.)
Abstract	Semantic interpretation of the environment can significantly improve the capabilities of our autonomous robots. This work is focused on automatic semantic label propagation in video of indoor environments acquired by a mobile robot. Using a small number of training examples, we propose a new approach to recognize and label dominant background regions of interest, such as floor, wall and doors, and separate them from the remaining of foreground/object image categories. Our approach performs the labeling at the level of image superpixels. A simple non-parametric model is initialized from a few hand labeled examples in the first frame, and then it is propagated and updated along the sequence. We demonstrate the promising results obtained with our proposal in five different indoor sequences from different environments. The obtained semantic labeling can be used both for autonomous navigation and to provide better context for subsequent object detection.
Starting Page	2383
Ending Page	2389
File Size	714854
Page Count	7
File Format	PDF
ISBN	9781612844541
ISSN	21530858
e-ISBN	9781612844565
DOI	10.1109/IROS.2011.6094997
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	Semantics Labeling Image color analysis Histograms Vectors Proposals Videos
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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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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