Robotics and Computer Vision Lab

Publications

Extra Form
저 자 Sungho Kim, In So Kweon
학 회 Computer Vision and Image Understanding (CVIU)
논문일시(Year) 2007
논문일시(Month) 03
105(3):167-187

In this paper, we present a new graph-based frame work for collaborative place, object, and part recognition in indoor environments.
We consider a scene to be an undirected graphical model composed of a place node, object nodes, and part nodes with undirected links.
Our key contribution is the introduction of collaborative place and object recognition (we call it as the hierarchical context in this paper) instead of object only or causal relation of place to objects. We unify the hierarchical context and the well-known spatial context into a complete hierarchical graphical model (HGM). In the HGM, object and part nodes contain labels and related pose information instead of only a label for robust inference of objects. The most difficult problems of the HGM are learning and inferring variable graph structures.
We learn the HGM in a piecewise manner instead of by joint graph learning for tractability. Since the inference includes variable structure estimation with marginal distribution of each node, we approximate the pseudo-likelihood of marginal distribution using multimodal sequential Monte Carlo with weights updated by belief propagation. Data-driven multimodal hypothesis and context-based pruning provide the correct inference. For successful recognition, issues related to 3D object recognition are also considered and several state-of-the-art methods are incorporated. The proposed system greatly reduces false alarms using the spatial and hierarchical contexts.
We demonstrate the feasibility of the HGM-based collaborative place, object, and part recognition in actual large-scale environments for guidance applications (12 places, 112 3D objects).

List of Articles
158. 단일 및 다중 컬러 영상에서 이색성 선 공간을 이용한 조명 색도 추정
Yoojin Choi, Kukjin Yoon, In So Kweon
정보과학회논문지:소프트웨어 및 응용 2006 / 01
157. Modeling and target classification using multiple reflections of sonar
Wangheon Lee, In So Kweon
Journal of Control, Automation, and Systems Engineering (ICASE) 2004 / 09
156. 칼라 기반의 특징점 추출과 대응점을 이용한 움직임 추정 및 지도 작성
Hyoseok Hwang, In So Kweon
20th Workshop on Image Processing and Image Understanding (IPIU) 2008 / 02
155. 에피폴 기반의 로봇 자율 주행
Jungho Kim, In So Kweon
제 2회 한국지능로봇 하계종합 학술대회 2007 / 06
154. 영상 매칭 및 자세 추정을 이용한 무인 차량의 위치 추정
Yunsu Bok, Youngbae Hwang, In So Kweon
한국군사과학기술학회 종합학술대회 2007 / 08
153. 산악 지형에서 무인 이동 비행기의 위치 추정 알고리즘
Jihwan Woo, Kil-Ho Son, In So Kweon, Kim Gwan Sung
19th Workshop on Image Processing and Image Understanding (IPIU) 2007 / 02
152. Automatic Modeling of Urban Area from the Satellite Image
Kil-Ho Son, Jihwan Woo, In So Kweon
19th Workshop on Image Processing and Image Understanding (IPIU) 2007 / 02
151. Motion Estimamtion of Non-Overlapping Cameras
Hyeongwoo Kim, Jun-sik Kim, In So Kweon
19th Workshop on Image Processing and Image Understanding (IPIU) 2007 / 02
150. Improved GrabCut Using Probability about Position
Hanbyul Joo, Jihwan Woo, In So Kweon
19th Workshop on Image Processing and Image Understanding (IPIU) 2007 / 02
149. 2차원 거리 센서와 CCD 카메라를 이용한 3차원 움직임 추정
Yunsu Bok, Youngbae Hwang, In So Kweon
한국지능로봇 하계종합학술대회 2006 / 06
148. Robust feature point matching by preserving local geometric consistency
Ouk Choi, In So Kweon
Computer Vision and Image Understanding 2009 / 06
147. Motion Estimation by Decoupling Rotation and Translation in Catadioptric Vision
Jean-Charles Bazin, C. Demoncreaux, P. Vasseur, In So Kweon
Computer Vision and Image Understanding 2009 / 12
146. Multi-Video Synopsis: Representing Multiple Videos with a Single Video Sequence
Teng Li, Tao Mei, In So Kweon, Xian-Sheng Hua
Signal Processing 2009 / 12
145. Simultaneous Place and Object Recognition using Collaborative Context Information
Sungho Kim, In So Kweon
Image and Vision Computing 2009 / 05
144. Camera calibration based on arbitrary parallelograms
Jun-sik Kim, In So Kweon
Computer Vision and Image Understanding 2009 / 01
143. Change Detection Using a Statistical Model in an Optimally Selected Color Space
Youngbae Hwang, Jun-sik Kim, In So Kweon
Computer Vision and Image Understanding 2008 / 12
142. Distinctive Similarity Measure for Stereo Matching Under Point Ambiguity
Kukjin Yoon, In So Kweon
Computer Vision and Image Understanding 2008 / 11
141. Object Recognition Using a Generalized Robust Invariant Feature and Gestalt's Law of Proximity and Similarity
Sungho Kim, Kukjin Yoon, In So Kweon
Pattern Recognition 2008 / 02
140. Scalable Representation for 3D Object Recognition Using Feature Sharing and View Clustering
Sungho Kim, In So Kweon
Pattern Recognition 2008 / 02
» Robust Model-based Scene Interpretation by Multilayered Context Information
Sungho Kim, In So Kweon
Computer Vision and Image Understanding (CVIU) 2007 / 03
Board Pagination Prev 1 ... 22 23 24 25 26 27 28 29 30 31 ... 34 Next
/ 34