ShanghaiTech University Knowledge Management System
Point Set Registration With Semantic Region Association Using Cascaded Expectation Maximization | |
Hu, Lan1; Wei, Jiaxin1; Ouyang, Zhanpeng1; Kneip, Laurent1,2 | |
2021 | |
会议录名称 | IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION |
ISSN | 1050-4729 |
卷号 | 2021-May |
页码 | 11234-11240 |
发表状态 | 已发表 |
DOI | 10.1109/ICRA48506.2021.9561140 |
摘要 | We introduce a new solution to point set registration, a fundamental geometric problem occurring in many computer vision and robotics applications. We consider the specific case in which the point sets are segmented into semantically annotated parts. Such information may for example come from object detection or instance-level semantic segmentation in a registered RGB image. Existing methods incorporate the additional information to restrict or re-weight the point-pair associations occurring throughout the registration process. We introduce a novel hierarchical association framework for a simultaneous inference of semantic region association likelihoods. The formulation is elegantly solved using cascaded expectationmaximization. We conclude by demonstrating a substantial improvement over existing alternatives on open RGBD datasets. |
会议录编者/会议主办者 | ICRA |
会议名称 | 2021 IEEE International Conference on Robotics and Automation, ICRA 2021 |
出版地 | 345 E 47TH ST, NEW YORK, NY 10017 USA |
会议地点 | Xian,PEOPLES R CHINA |
会议日期 | MAY 30-JUN 05, 2021 |
URL | 查看原文 |
收录类别 | EI ; CPCI ; CPCI-S |
语种 | 英语 |
资助项目 | Natural Science Foundation of Shanghai[19ZR1434000] |
WOS研究方向 | Automation & Control Systems ; Robotics |
WOS类目 | Automation & Control Systems ; Robotics |
WOS记录号 | WOS:000771405403103 |
出版者 | IEEE |
EI入藏号 | 20220911738398 |
EISSN | 2577-087X |
原始文献类型 | Conference article (CA) |
文献类型 | 会议论文 |
条目标识符 | https://kms.shanghaitech.edu.cn/handle/2MSLDSTB/126752 |
专题 | 信息科学与技术学院_硕士生 信息科学与技术学院_PI研究组_Laurent Kneip组 信息科学与技术学院_博士生 |
通讯作者 | Hu, Lan |
作者单位 | 1.ShanghaiTech Univ, Mobile Percept Lab, Shanghai, Peoples R China 2.Shanghai Engn Res Ctr Intelligent Vis & Imaging, Shanghai, Peoples R China |
第一作者单位 | 上海科技大学 |
通讯作者单位 | 上海科技大学 |
第一作者的第一单位 | 上海科技大学 |
推荐引用方式 GB/T 7714 | Hu, Lan,Wei, Jiaxin,Ouyang, Zhanpeng,et al. Point Set Registration With Semantic Region Association Using Cascaded Expectation Maximization[C]//ICRA. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2021:11234-11240. |
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