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

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

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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

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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.