1 segmentation of salient regions in outdoor scenes using imagery and 3-d data gunhee kim daniel...
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Segmentation of Salient Regions in Outdoor Scenes
Using Imagery and 3-D Data
Segmentation of Salient Regions in Outdoor Scenes
Using Imagery and 3-D Data
Gunhee Kim Daniel Huber Martial Hebert
Carnegie Mellon University
Robotics Institute
< WACV2008 >
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Perception for Unmanned VehiclesPerception for Unmanned Vehicles
Imagery
3-D scan
Sensors
Input Data
Vrml_file
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Problem StatementProblem Statement
• Our ultimate goal is…
• Here, we focus on a crucial pre-requisite step !!
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Object DetectionObject Detection
• Naïve Scanning
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Object DetectionObject Detection
• Prioritize the searching regions
Salient Regions
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Problem StatementProblem Statement
• Saliency Detection using Imagery and 3-D Data
– A Mid-level vision task
– No high-level priors, models, or learning
– Only low-level information
– Ex) pixel colors, (x,y,z)-coordinates
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Problem StatementProblem Statement
< Input >
1. An image
2. 3D scan data
< Output >
Information-theoreticoptimal clustering
Segmentation of top-k most salient regions
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Saliency Saliency
• Saliency: The quality of standing out relative to neighboring items
• Top-down
– Driven by high-level concepts
– Memories and Experiences
• Bottom-up
– Driven by low-level features
– Intensity, contrast, color, orientation, and motion
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Two Bottom-Up ModelsTwo Bottom-Up Models
• Itti-Koch-Niebur Model [1]
[1] L.Itti, C.Koch and E.Niebur A Model of Saliency-based Visual Attention for Rapid Scene Analysis, PAMI, 1998.
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Two Bottom-Up ModelsTwo Bottom-Up Models
• Kadir-Brady Saliency detector [3]
– Find the region which are locally complex, and globally discriminative.
[3] T.Kadir and M. Brady, Scale, Saliency and Image Description. IJCV 45 (2):83-105, 2001.
More flatter, higher complex
Scale, rotation, affine invariance
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Previous Work for Saliency in 3-DPrevious Work for Saliency in 3-D
[1] S. Frintrop, E. Rome, A. N¨uchter, and H. Surmann. A bimodal laser-based attention system. CVIU, 2005.[2] D. M. Cole, A. R. Harrison, and P.M. Newman. Using naturally salient regions for slam with 3d laser data, ICRA workshop on SLAM, 2005.
• BILAS [3]: Itti et al [1]’s model
• Cole et al. [4]:
Kadir-Brady [2]’s model
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Saliency of 3-D Data Saliency of 3-D Data
• A point cloud
• Gestalt laws of grouping [5]
Proximity laws Continuity & Simplicity laws
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Saliency of 3-D Data Saliency of 3-D Data
• How to detect salient regions in 3-D data?
• (Answer) Find the set of clusters that best fit 3-D pdfs– Gaussian
– Uniform
GaussianUniform
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Robust Information-Theoretic Clustering (RIC) [6]Robust Information-Theoretic Clustering (RIC) [6]
• Input: A feature set + Families of pdfs
• Output: Clusters according to how well they fit the pdfs
• Minimum Description Length (MDL) principle
– Goodness of fit = compression costs
– Huffman-like coding
[6] C.Bohm,C.Faloutsos, J.Y.Pan, and C.Plant, Robust information-theoretic clustering, KDD 2006
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Proposed ApproachProposed Approach
Clustering of 3-D Data using RIC
Projection of Clusterson an Image
Compute Saliency Valuesof Clusters
Image Segmentation of Top-ranked Saliency Regions
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Clustering in 3-D DataClustering in 3-D Data
• RIC clustering
Uniform distGaussian dist
InformationTheoretic Optimal Clustering
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Proposed ApproachProposed Approach
Clustering on 3-D Data using RIC
Projection of Clustersto an Image
Compute Saliency Valuesof Clusters
Image Segmentation of Top-ranked Saliency Regions
Projection of Clustersto an Image
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Saliency FeaturesSaliency Features
)( ii Cf )( ie Cf
)( ih Cf
)( is Cf
)( is Cf
3D-data Image data (RGB color)
Local Regional Global
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Saliency FeaturesSaliency Features
)( ii Cf
Local 3D-data
1. Compression Cost- how well the cluster is fit to the reference family of pdfs
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Saliency FeaturesSaliency Features
Local RGB-data
2. Entropy of RGB histograms
[7] - Follow Kadir-Brady’s definition
)( ie Cf
[7] T. Kadir and M. Brady. Saliency, scale and image description. IJCV, 45(2):83–105, 2001.
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Saliency FeaturesSaliency Features
Regional RGB-data
3. Center-surround contrast [8]
- Follow Itti et al’s definition
[8] T. Liu, J. Sun, N.-N. Zheng, X. Tang, and H.-Y. Shum.Learning to detect a salient object, CVPR, 2007.
)( ih Cf
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Saliency FeaturesSaliency Features
Global RGB-data
4. Color spatial distribution [8] - Rare color: More salient
[8] T. Liu, J. Sun, N.-N. Zheng, X. Tang, and H.-Y. Shum.Learning to detect a salient object, CVPR, 2007.
)( is Cf
)( is Cf
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Proposed ApproachProposed Approach
Clustering on 3-D Data using RIC
Projection of Clustersto an Image
Compute Saliency Valuesof Clusters
Image Segmentation of Top-ranked Saliency Regions
Projection of Clustersto an Image
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Image SegmentationImage Segmentation
• From Sparse Points to Dense Regions
• Using Conventional Markov-Random Field (MRF) Models
– Labeling Problem
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Qualitative ResultsQualitative Results
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Qualitative ResultsQualitative Results
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Future WorkFuture Work
• Integration with the Recognition
• Over-segmentation & Under-segmentation
– Model-specific pdfs
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ConclusionConclusion
• Bottom-up saliency detection using Imagery and 3-D data as a mid-level task
– (x,y,z)-coordinates of 3-D data and Colors at pixels.
• Practically useful building block for perception of unmanned vehicles