Transcript pptx

Efficient 3-D Scene Analysis
from Streaming Data
Hanzhang Hu
Daniel Munoz
J. Andrew Bagnell Martial Hebert
Scene Parsing
Input
Belief
Propagation
Output
2
Scene Parsing
Input
f1
…
fN
Output
Inference Machine
Munoz ECCV 2010, ICRA 2011
3
Region-based Scene Parsing
4
Level 3
Level 2
Level 1
Level 3
Level 2
Level 1
Streaming 3-D Data
7
Streaming Segmentation
8
Streaming Segmentation
9
Streaming Segmentation
?
10
Streaming Segmentation
11
F-H
IJCV 2004
Grid
12
Streaming Segmentation
-Δx
-Δy
-Δz
+Δx
+Δy
+Δz
13
Streaming Segmentation
14
World Grid Map
“Pillars”
“Blocks”
Voxels
15
Loop over pillars
Loop over pillars
Loop over pillars
Loop over blocks
Loop over blocks
Loop over blocks
Loop over voxels
Loop over voxels
Loop over voxels
Each “dot” is
a voxel
Label Assignment
Green box is one of
the finest regions