Joint 2D and 3D cues for image segmentation towards robotic applications

He, Hu (2014) Joint 2D and 3D cues for image segmentation towards robotic applications. PhD thesis, Queensland University of Technology.

Abstract

This thesis investigates the fusion of 3D visual information with 2D image cues to provide 3D semantic maps of large-scale environments in which a robot traverses for robotic applications. A major theme of this thesis was to exploit the availability of 3D information acquired from robot sensors to improve upon 2D object classification alone. The proposed methods have been evaluated on several indoor and outdoor datasets collected from mobile robotic platforms including a quadcopter and ground vehicle covering several kilometres of urban roads.

Impact and interest:

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Full-text downloads:

150 since deposited on 02 Jun 2014
27 in the past twelve months

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ID Code: 71760
Item Type: QUT Thesis (PhD)
Supervisor: Upcroft, Ben & Corke, Peter
Keywords: Image Segmentation, Computer Vision, Robotics, Structure from Motion, Markov Random Fields, Graph Cut, Energy Minimisation
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Institution: Queensland University of Technology
Deposited On: 02 Jun 2014 01:42
Last Modified: 09 Sep 2015 05:42

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