Pugeault, N. , Wörgötter, F. and Krüger, N. (2008) Accumulated Visual Representation for Cognitive Vision. In: British Machine Vision Conference 2008, Leeds, UK, 01-04 Sep 2008, ISBN 9781901725360 (doi: 10.5244/C.22.98)
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Abstract
In this paper we present a scheme for accumulating local visual informa- tion in 3D, under known motion. Information about the object’s 3D shape is provided by reconstructing local contour descriptors. This shape informa- tion is accumulated over time in three ways: 1) disambiguation: erroneous stereo correspondences that are unsuccessfully tracked are discarded. We make use of aspect cues to increase the data association selectivity. 2) cor- rection: the full pose of the reconstructed features is corrected over time using an Kalman Filter approach. 3) completeness: multiple 2 1 D represen- 2 tations become merged, constructing a full 3D representation of the object. The described system is evaluated quantitatively on three different scenarios.
Item Type: | Conference Proceedings |
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Status: | Published |
Refereed: | Yes |
Glasgow Author(s) Enlighten ID: | Pugeault, Dr Nicolas |
Authors: | Pugeault, N., Wörgötter, F., and Krüger, N. |
College/School: | College of Science and Engineering > School of Computing Science |
ISBN: | 9781901725360 |
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