NDLI: Appearance-based segmentation of indoors/outdoors sequences of spherical views

Content Provider	IEEE Xplore Digital Library
Author	Chapoulie, A. Rives, P. Filliat, D.
Copyright Year	2013
Description	Author affiliation: ENSTA ParisTech, Paris, France (Filliat, D.) \|\| INRIA Sophia Antipolis - Mediterranee, Sophia Antipolis, France (Chapoulie, A.; Rives, P.)
Abstract	Navigating in large scale, complex and dynamic environments requires reliable representations able to capture metric, topological and semantic aspects of the scene for supporting path planing and real time motion control. In a previous work [11], we addressed metric and topological representations thanks to a multi-cameras system which allows building of dense visual maps of large scale 3D environments. The map is a set of locally accurate spherical panoramas related by 6d of poses graph. The work presented here is a further step toward a semantic representation. We aim at detecting the changes in the structural properties of the scene during navigation. Structural properties are estimated online using a global descriptor relying on spherical harmonics which are particularly well-fitted to capture properties in spherical views. A change-point detection algorithm based on a statistical Neyman-Pearson test allows us to find optimal transitions between topological places. Results are presented and discussed both for indoors and outdoors experiments.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	1946
Ending Page	1951
File Size	1136606
Page Count	6
File Format	PDF
ISSN	21530858
DOI	10.1109/IROS.2013.6696614
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-03
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Harmonic analysis Robots Semantics Trajectory Density functional theory Navigation Measurement
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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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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