willow garage summer finale presentationcvpr 2009 . outdoor classification 3 vegetation tree-trunk...
TRANSCRIPT
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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. Hebert
CVPR 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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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
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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
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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
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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
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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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Floor Ceiling Column
Chair Table Wall
Cabinets
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Room-sized Objects
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Floor Ceiling Column
Chair Table Wall
Cabinets
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Room-sized Objects
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Floor Ceiling Column
Chair Table Wall
Cabinets
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More experiments required There were no cabinets off the ground in training set
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Floor Ceiling Column
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.)
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