Using multi-modal 3D contours and their relations for vision and robotics

Date

2010-11-01

Author

BAŞESKİ, Emre
Pugeault, Nicolas
Kalkan, Sinan
BODENHAGEN, Leon
Piater, Justus H.
KRÜGER, Norbert

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

225
views

0
downloads

In this work, we make use of 3D contours and relations between them (namely, coplanarity, cocolority, distance and angle) for four different applications in the area of computer vision and vision-based robotics. Our multi-modal contour representation covers both geometric and appearance information. We show the potential of reasoning with global entities in the context of visual scene analysis for driver assistance, depth prediction, robotic grasping and grasp learning. We argue that, such 3D global reasoning processes complement widely-used 2D local approaches such as bag-of-features since 3D relations are invariant under camera transformations and 3D information can be directly linked to actions. We therefore stress the necessity of including both global and local features with different spatial dimensions within a representation. We also discuss the importance of an efficient use of the uncertainty associated with the features, relations, and their applicability in a given context. (c) 2010 Elsevier Inc. All rights reserved.

Subject Keywords

Media Technology, Signal Processing, Electrical and Electronic Engineering, Computer Vision and Pattern Recognition

URI

https://hdl.handle.net/11511/36871

Journal

JOURNAL OF VISUAL COMMUNICATION AND IMAGE REPRESENTATION

DOI

https://doi.org/10.1016/j.jvcir.2010.06.006

Collections

Department of Computer Engineering, Article

Suggestions

OpenMETU
Core

New method for the fusion of complementary information from infrared and visual images for object detection Ulusoy, İlkay (Institution of Engineering and Technology (IET), 2011-02-01) Visual and infrared cameras have complementary properties and using them together may increase the performance of object detection applications. Although the fusion of visual and infrared information results in a better recall rate than using only one of those domains, there is always a decrease in the precision rate whereas the infrared domain on its own always has higher precision. Thus, the fusion of these domains is meaningful only for a better recall rate, which means that more foreground pixels are de...
Nested local symmetry set Tarı, Zehra Sibel (Elsevier BV, 2000-08-01) A local-symmetry-based representation for shapes in arbitrary dimensions and a method for its computation are presented. The method depends on analyzing the Hessian of a specific boundaryness function, v, which is computed as the minimizer of an energy functional. The method is basically a generalized ridge finding scheme in which the ridges are defined in terms of the orbit of the gradient vector del v under the action of the Hessian of v. Once the ridges are determined, the local extrema of the magnitude ...
Exact Relation Between Continuous and Discrete Linear Canonical Transforms Öktem, Sevinç Figen (Institute of Electrical and Electronics Engineers (IEEE), 2009-08-01) Linear canonical transforms (LCTs) are a family of integral transforms with wide application in optical, acoustical, electromagnetic, and other wave propagation problems. The Fourier and fractional Fourier transforms are special cases of LCTs. We present the exact relation between continuous and discrete LCTs (which generalizes the corresponding relation for Fourier transforms), and also express it in terms of a new definition of the discrete LCT (DLCT), which is independent of the sampling interval. This p...
Continuous dimensionality characterization of image structures Felsberg, Michael; Kalkan, Sinan; Kruger, Norbert (Elsevier BV, 2009-05-04) Intrinsic dimensionality is a concept introduced by statistics and later used in image processing to measure the dimensionality of a data set. In this paper, we introduce a continuous representation of the intrinsic dimension of an image patch in terms of its local spectrum or, equivalently, its gradient field. By making use of a cone structure and barycentric co-ordinates, we can associate three confidences to the three different ideal cases of intrinsic dimensions corresponding to homogeneous image patche...
On the Eigenstructure of DFT Matrices Candan, Çağatay (Institute of Electrical and Electronics Engineers (IEEE), 2011-03-01) The discrete Fourier transform (DFT) not only enables fast implementation of the discrete convolution operation, which is critical for the efficient processing of analog signals through digital means, but it also represents a rich and beautiful analytical structure that is interesting on its own. A typical senior-level digital signal processing (DSP) course involves a fairly detailed treatment of DFT and a list of related topics, such as circular shift, correlation, convolution operations, and the connectio...

Citation Formats

E. BAŞESKİ, N. Pugeault, S. Kalkan, L. BODENHAGEN, J. H. Piater, and N. KRÜGER, “Using multi-modal 3D contours and their relations for vision and robotics,” JOURNAL OF VISUAL COMMUNICATION AND IMAGE REPRESENTATION, pp. 850–864, 2010, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/36871.