Anytime Perceptual Grouping of 2D Features into 3D Basic Shapes

21 Pages·2013·0.8 MB·English

by  Michael Zillich

Anytime Perceptual Grouping of 2D
Features into 3D Basic Shapes
Andreas Richtsfeld
Michael Zillich
Markus Vincze
Vienna University of Technology
Why is this important?
It isn't ...
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Perceptual grouping based RGB-D segmentation [Richtsfeld ea, ICRA'12]
RGB-D rules (especially in robotics)
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But ...
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TEDDY [Igarashi ea, SIGGRAPH'99]
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Overview
Related work
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Overall structure
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Anytimeness
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3D shapes
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Attention
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Results
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Summary and outlook
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Related Work
Contour grouping
Estrada, Jepson [ICPR 2004]
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Saund [PAMI 2003]
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Wang ea [IJCV 2003]
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Zhu ea [ICCV 2007]
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Learning
Sarkar, Soundararajan [PAMI 2000]
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Abstraction
Sala, Dickinson [ECCV 2010]
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Runtime
Mahamud ea [PAMI 2003]
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Zillich, Vincze [POCV 2008]
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Perceptual Grouping Structure
Classificatory structure [Boyer, Sarkar, CVIU 1999]
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Perceptual Grouping Process Flow
Cuboid Cuboid
. .
. .
. .
… and percolate
upwards
.
.
Closure Closure
l
i
t
n
u

t
Thresholds a
e
p
e
R
Junction Junction
3. Create
2. Search
1. Select one
Line Line
Traditional Bottom-up Incremental Bottom-up
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1. Select: Ranking
All primitives ranked according to significance
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More processing on significant primitives:
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random selection with exponential distribution
=> Salient structures popping out first
Masking of lower ranked primitive by higher
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one, if disagreement of common primitive
=> Pruning of low salience figures to limit
combinatorial explosion
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2. Search: Incremental Indexing
“Indexing” in image space: 2 lines voting for a junction
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Grow search lines 1 pixel at a time, define junctions
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Create next higher level primitives, e.g. closed path
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search
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