efficient 3-d scene analysis from streaming data hanzhang hudaniel munoz j. andrew bagnellmartial...
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Efficient 3-D Scene Analysis from Streaming Data
Hanzhang Hu Daniel MunozJ. Andrew Bagnell Martial Hebert
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Scene Parsing
InputBelief
PropagationOutput
3
Scene Parsing
Input f1 OutputfN…Inference Machine
Munoz ECCV 2010, ICRA 2011
4
Region-based Scene Parsing
Level 3
Level 2
Level 1
Level 3
Level 2
Level 1
7
Streaming 3-D Data
8
Streaming Segmentation
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Streaming Segmentation
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Streaming Segmentation
?
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Streaming Segmentation
12
F-HIJCV 2004
Grid
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Streaming Segmentation
+Δx+Δy+Δz
-Δx-Δy-Δz
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Streaming Segmentation
15
World Grid Map
“Pillars” “Blocks” Voxels
Loop over pillars
Loop over pillars
Loop over pillars
Loop over blocks
Loop over blocks
Loop over blocks
Loop over voxels
Loop over voxels
Loop over voxels
Label Assignment
Average distribution forAssigning final label
Each “dot” isa voxel
Green box is one ofthe finest regions