daniel munoz: indoor object detection

8/14/2019 Daniel Munoz: Indoor Object Detection

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Dan Munoz

Willow GarageSummer Finale Presentation

Mentor: Kurt Konolige


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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. HebertCVPR 2009


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Outdoor Classification

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Vegetation Tree-trunk

Ground Building


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Summer 09

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Floor Ceiling Column

Chair Table Wall


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ChallengesTraining data

Discriminative features

Learning

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Training dataIssues with getting 3-D labels from 2-D images

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


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Discriminative Featuresdescriptors_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


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Learningfunctional_m3n

ROS agnostic Can do online learning Extended implementation of CVPR09 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


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Region Based Model

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Simple AlgorithmFor 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


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Adding Image Features

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Results

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Stapler Mouse

Mug Background


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Results

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Stapler Mouse

Mug Background


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Results

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Stapler Mouse

Mug Background


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Results

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Stapler Mouse

Mug Background


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Results

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Stapler Mouse

Mug Background


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Results

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Stapler Mouse

Mug Background


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Room-sized Objects

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Chair Table Wall

Cabinets


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Room-sized Objects

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Chair Table Wall

Cabinets


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Room-sized Objects

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Chair Table Wall

Cabinets


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More experiments requiredThere were no cabinets off the ground in training set

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Chair Table Wall

Cabinets


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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.)

daniel munoz: indoor object detection

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