行人检测是计算机视觉、智能交通等领域研究的热点与难点,基于深度传感器对室内复杂场景下的行人检测展开研究。目前,基于颜色与深度数据的目标检测方法主要包括基于背景学习的方法和基于特征检测算子的方法,前者依赖于视频序列头几十...行人检测是计算机视觉、智能交通等领域研究的热点与难点,基于深度传感器对室内复杂场景下的行人检测展开研究。目前,基于颜色与深度数据的目标检测方法主要包括基于背景学习的方法和基于特征检测算子的方法,前者依赖于视频序列头几十帧的背景知识,帧的数量决定检测质量;后者存在计算量大的问题,训练样本的不足也会影响行人检测结果。因此,深入分析了复杂场景特征,融合颜色和深度信息,提出了RGBD+ViBe(visual background extractor)背景剔除方法,实现前景运动目标的准确提取。实验结果表明,提出的RGBD+ViBe方法在前景运动目标检测准确率方面要明显高于仅考虑颜色或深度信息方法以及RGBD+MoG(model of Gaussian)方法。展开更多
彩色深度(Red Green Blue Depth, RGBD)图像不仅包含红绿蓝三通道的颜色信息,还包含深度信息,因此能提供更全面的空间结构信息.近年来,随着RGBD图像的广泛应用,基于RGBD的图像显著性检测方法相继被提出.为了更好地解决弱监督图像显著性...彩色深度(Red Green Blue Depth, RGBD)图像不仅包含红绿蓝三通道的颜色信息,还包含深度信息,因此能提供更全面的空间结构信息.近年来,随着RGBD图像的广泛应用,基于RGBD的图像显著性检测方法相继被提出.为了更好地解决弱监督图像显著性检测方法中的跨模态数据融合问题,本文提出一种基于图像分类的弱监督RGBD图像显著性检测方法.首先,本文通过基于梯度的类别响应机制生成初始类别响应图,同时使用传统的显著图检测算法生成初始显著图.然后,根据本文提出的基于深度图的优化策略将初始类别响应图和初始显著图融合形成伪标签.最后,通过本文提出的由加权交叉熵损失、条件随机场推理损失以及边缘损失构成的混合损失对网络模型进行训练.实验表明,本文提出的弱监督RGBD图像显著性检测方法具有先进的性能.展开更多
While Kinect was originally designed as a motion sensing input device of the gaming console Microsoft Xbox 360 for gaming purposes, it＇s easy-to-use, low-cost, reliability, speed of the depth measurement and relative...While Kinect was originally designed as a motion sensing input device of the gaming console Microsoft Xbox 360 for gaming purposes, it＇s easy-to-use, low-cost, reliability, speed of the depth measurement and relatively high quality of depth measurement make it can be used for 3D reconstruction. It could make 3D scanning technology more accessible to everyday users and turn 3D reconstruction models into much widely used asset for many applications. In this paper, we focus on Kinect 3D reconstruction.展开更多
Mapping in the dynamic environment is an important task for autonomous mobile robots due to the unavoidable changes in the workspace. In this paper, we propose a framework for RGBD SLAM in low dynamic environment, whi...Mapping in the dynamic environment is an important task for autonomous mobile robots due to the unavoidable changes in the workspace. In this paper, we propose a framework for RGBD SLAM in low dynamic environment, which can maintain a map keeping track of the latest environment. The main model describing the environment is a multi-session pose graph, which evolves over the multiple visits of the robot. The poses in the graph will be pruned when the 3D point scans corresponding to those poses are out of date. When the robot explores the new areas, its poses will be added to the graph. Thus the scans kept in the current graph will always give a map of the latest environment. The changes of the environment are detected by out-of-dated scans identification module through analyzing scans collected at different sessions. Besides, a redundant scans identification module is employed to further reduce the poses with redundant scans in order to keep the total number of poses in the graph with respect to the size of environment. In the experiments, the framework is first tuned and tested on data acquired by a Kinect from laboratory environment. Then the framework is applied to external dataset acquired by a Kinect II from a workspace of an industrial robot in another country, which is blind to the development phase, for further validation of the performance. After this two-step evaluation, the proposed framework is considered to be able to manage the map in date in dynamic or static environment with a noncumulative complexity and acceptable error level.展开更多
Salient object detection is used as a preprocess in many computer vision tasks(such as salient object segmentation,video salient object detection,etc.).When performing salient object detection,depth information can pr...Salient object detection is used as a preprocess in many computer vision tasks(such as salient object segmentation,video salient object detection,etc.).When performing salient object detection,depth information can provide clues to the location of target objects,so effective fusion of RGB and depth feature information is important.In this paper,we propose a new feature information aggregation approach,weighted group integration(WGI),to effectively integrate RGB and depth feature information.We use a dual-branch structure to slice the input RGB image and depth map separately and then merge the results separately by concatenation.As grouped features may lose global information about the target object,we also make use of the idea of residual learning,taking the features captured by the original fusion method as supplementary information to ensure both accuracy and completeness of the fused information.Experiments on five datasets show that our model performs better than typical existing approaches for four evaluation metrics.展开更多
文摘行人检测是计算机视觉、智能交通等领域研究的热点与难点,基于深度传感器对室内复杂场景下的行人检测展开研究。目前,基于颜色与深度数据的目标检测方法主要包括基于背景学习的方法和基于特征检测算子的方法,前者依赖于视频序列头几十帧的背景知识,帧的数量决定检测质量;后者存在计算量大的问题,训练样本的不足也会影响行人检测结果。因此,深入分析了复杂场景特征,融合颜色和深度信息,提出了RGBD+ViBe(visual background extractor)背景剔除方法,实现前景运动目标的准确提取。实验结果表明,提出的RGBD+ViBe方法在前景运动目标检测准确率方面要明显高于仅考虑颜色或深度信息方法以及RGBD+MoG(model of Gaussian)方法。
文摘彩色深度(Red Green Blue Depth, RGBD)图像不仅包含红绿蓝三通道的颜色信息,还包含深度信息,因此能提供更全面的空间结构信息.近年来,随着RGBD图像的广泛应用,基于RGBD的图像显著性检测方法相继被提出.为了更好地解决弱监督图像显著性检测方法中的跨模态数据融合问题,本文提出一种基于图像分类的弱监督RGBD图像显著性检测方法.首先,本文通过基于梯度的类别响应机制生成初始类别响应图,同时使用传统的显著图检测算法生成初始显著图.然后,根据本文提出的基于深度图的优化策略将初始类别响应图和初始显著图融合形成伪标签.最后,通过本文提出的由加权交叉熵损失、条件随机场推理损失以及边缘损失构成的混合损失对网络模型进行训练.实验表明,本文提出的弱监督RGBD图像显著性检测方法具有先进的性能.
文摘While Kinect was originally designed as a motion sensing input device of the gaming console Microsoft Xbox 360 for gaming purposes, it＇s easy-to-use, low-cost, reliability, speed of the depth measurement and relatively high quality of depth measurement make it can be used for 3D reconstruction. It could make 3D scanning technology more accessible to everyday users and turn 3D reconstruction models into much widely used asset for many applications. In this paper, we focus on Kinect 3D reconstruction.
基金This work is supported by the National Natural Science Foundation of China （Grant No. NSFC： 61473258, U 1509210）, and the Joint Centre for Robotics Research （JCRR） between Zhejiang University and the University of Technology, Sydney.
文摘Mapping in the dynamic environment is an important task for autonomous mobile robots due to the unavoidable changes in the workspace. In this paper, we propose a framework for RGBD SLAM in low dynamic environment, which can maintain a map keeping track of the latest environment. The main model describing the environment is a multi-session pose graph, which evolves over the multiple visits of the robot. The poses in the graph will be pruned when the 3D point scans corresponding to those poses are out of date. When the robot explores the new areas, its poses will be added to the graph. Thus the scans kept in the current graph will always give a map of the latest environment. The changes of the environment are detected by out-of-dated scans identification module through analyzing scans collected at different sessions. Besides, a redundant scans identification module is employed to further reduce the poses with redundant scans in order to keep the total number of poses in the graph with respect to the size of environment. In the experiments, the framework is first tuned and tested on data acquired by a Kinect from laboratory environment. Then the framework is applied to external dataset acquired by a Kinect II from a workspace of an industrial robot in another country, which is blind to the development phase, for further validation of the performance. After this two-step evaluation, the proposed framework is considered to be able to manage the map in date in dynamic or static environment with a noncumulative complexity and acceptable error level.
基金supported by the National Natural Science Foundation of China (No. 91320201 and No. 61471262)the International (Regional) Collaborative Key Research Projects (No. 61520106002)
基金supported by the NEPU Natural Science Foundation under Grants Nos.2017PY ZL05,2018QNL-51,JY CX CX062018,JY CX JG062018,JY CX 142020。
文摘Salient object detection is used as a preprocess in many computer vision tasks(such as salient object segmentation,video salient object detection,etc.).When performing salient object detection,depth information can provide clues to the location of target objects,so effective fusion of RGB and depth feature information is important.In this paper,we propose a new feature information aggregation approach,weighted group integration(WGI),to effectively integrate RGB and depth feature information.We use a dual-branch structure to slice the input RGB image and depth map separately and then merge the results separately by concatenation.As grouped features may lose global information about the target object,we also make use of the idea of residual learning,taking the features captured by the original fusion method as supplementary information to ensure both accuracy and completeness of the fused information.Experiments on five datasets show that our model performs better than typical existing approaches for four evaluation metrics.
