Dan Munoz

Willow GarageSummer Finale Presentation

Mentor: Kurt Konolige

CMU Research

Building

Vegetation

GroundTree trunk

Sky

Support

Vertical

Geometry Surface Estimation (Hoiem et al.)

3-D Point Cloud Classification

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Contextual Classification with Functional Max-Margin Markov Networks D. Munoz, J. A. Bagnell, N. Vandapel, M. Hebert

CVPR 2009

Outdoor Classification

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Vegetation Tree-trunk

Ground Building

Summer 09

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Floor Ceiling Column

Chair Table Wall

Challenges Training data

Discriminative features

Learning

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Training data Issues with getting 3-D labels from 2-D images

Manually created labeled dataset of room-sized objects (chairs, tables, trash cans, etc.) in PCD format 6

Discriminative Features descriptors_3d

• Utilizes PCML routines

• Similar interface with image descriptors_2d (Alex T.)

• Parallelized with OpenMP*

Example features:

Works over groups/clusters of points as well• point_cloud_clustering

(k-means, single-link, local neighbors)7

Image from Johnson and Hebert 1999

Learning functional_m3n

• ROS agnostic

• Can do online learning

• Extended implementation of CVPR’09 work

1 min tutorial…

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Independent Classification

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Local Interactions

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Using Higher Order Information

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Colored by elevation

Region Based Model

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Simple Algorithm For T iterations

• Classify with current model

• Create training set D from misclassifications (Over features from each clique)

• Train favorite classifier OpenCV regression trees

• Add classifier to model

D

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Experiments

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Table-top Objects

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Table-top Objects

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Only 3-D features (worst example)

Stapler Mouse

Mug Background

Adding Image Features

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Results

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Stapler Mouse

Mug Background

Results

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Stapler Mouse

Mug Background

Results

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Stapler Mouse

Mug Background

Results

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Stapler Mouse

Mug Background

Results

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Stapler Mouse

Mug Background

Results

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Stapler Mouse

Mug Background

Room-sized Objects

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Floor Ceiling Column

Chair Table Wall

Cabinets

Room-sized Objects

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Floor Ceiling Column

Chair Table Wall

Cabinets

Room-sized Objects

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Floor Ceiling Column

Chair Table Wall

Cabinets

More experiments required There were no cabinets off the ground in training set

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Floor Ceiling Column

Chair Table Wall

Cabinets

Available Future Work descriptors_3d

• Faster neighborhood data structure (Marius, Ethan)

• Point Histogram Features (Radu, Gary)

• 3-D Chamfer distances (Marius)

point_cloud_clustering• Ground plane removal and then clustering 2-D projections

(Caroline)

• Mean-shift, etc.

functional_m3n• Random Forests, Neural nets (OpenCV)

• Boosted spheres (Alex T.)

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