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Appearance-based segmentation of indoors/outdoors sequences of spherical views

Alexandre Chapoulie 1 Patrick Rives 1 David Filliat 2, 3 
1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : Navigating in large scale, complex and dynamic environments requires reliable representations able to capture metric, topological and semantic aspects of the scene for sup- porting path planing and real time motion control. In a previous work [11], we addressed metric and topological representations thanks to a multi-cameras system which allows building of dense visual maps of large scale 3D environments. The map is a set of locally accurate spherical panoramas related by 6dof poses graph. The work presented here is a further step toward a semantic representation. We aim at detecting the changes in the structural properties of the scene during navigation. Structural properties are estimated online using a global descriptor relying on spherical harmonics which are particularly well-fitted to capture properties in spherical views. A change-point detection algorithm based on a statistical Neyman-Pearson test allows us to find optimal transitions between topological places. Results are presented and discussed both for indoors and outdoors experiments.
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Submitted on : Wednesday, July 17, 2013 - 10:30:51 AM
Last modification on : Wednesday, May 11, 2022 - 3:20:02 PM
Long-term archiving on: : Friday, October 18, 2013 - 4:22:50 AM


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  • HAL Id : hal-00845450, version 1


Alexandre Chapoulie, Patrick Rives, David Filliat. Appearance-based segmentation of indoors/outdoors sequences of spherical views. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'2013, Nov 2013, Tokyo, Japan. pp.1946-1951. ⟨hal-00845450⟩



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