Schorghuber et al., 2019 - Google Patents

SLAMANTIC-leveraging semantics to improve VSLAM in dynamic environments

Schorghuber et al., 2019

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Document ID
2136476248838324615
Author
Schorghuber M
Steininger D
Cabon Y
Humenberger M
Gelautz M
Publication year
Publication venue
Proceedings of the IEEE/CVF International Conference on Computer Vision Workshops

External Links

Snippet

In this paper, we tackle the challenge for VSLAM of handling non-static environments. We propose to include semantic information obtained by deep learning methods in the traditional geometric pipeline. Specifically, we compute a confidence measure for each map …
Continue reading at openaccess.thecvf.com (PDF) (other versions)

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06K—RECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00—Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/00624—Recognising scenes, i.e. recognition of a whole field of perception; recognising scene-specific objects
    • G06K9/00791—Recognising scenes perceived from the perspective of a land vehicle, e.g. recognising lanes, obstacles or traffic signs on road scenes
    • G06K9/00798—Recognition of lanes or road borders, e.g. of lane markings, or recognition of driver's driving pattern in relation to lanes perceived from the vehicle; Analysis of car trajectory relative to detected road
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10024—Color image
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20112—Image segmentation details
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06K—RECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00—Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/00221—Acquiring or recognising human faces, facial parts, facial sketches, facial expressions

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