Daniel Munoz: Indoor Object Detection
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Transcript of Daniel Munoz: Indoor Object Detection
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Dan Munoz
Willow GarageSummer Finale Presentation
Mentor: Kurt Konolige
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CMU Research
Building
Vegetation
GroundTree trunk
Sky
Support
Vertical
Geometry Surface Estimation(Hoiem et al. )
3-D Point Cloud Classification
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Contextual Classification with Functional Max-Margin Markov Networks
D. Munoz, J. A. Bagnell, N. Vandapel, M. HebertCVPR 2009
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Outdoor Classification
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Vegetation Tree-trunk
Ground Building
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Summer 09
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Floor Ceiling Column
Chair Table Wall
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ChallengesTraining data
Discriminative features
Learning
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Training dataIssues with getting 3-D labels from 2-D images
Manually created labeled dataset of room-sizedobjects (chairs, tables, trash cans, etc.) in PCD format 6
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Discriminative Featuresdescriptors_3d
Utilizes PCML routines Similar interface with image descriptors_2d (Alex T.) Parallelized with OpenMP*
Example features:
Works over groups/clusters of points as well point_cloud_clustering
(k-means, single-link, local neighbors) 7
Image from Johnson and Hebert 1999
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Learningfunctional_m3n
ROS agnostic Can do online learning Extended implementation of CVPR09 work
1 min tutorial
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Independent Classification
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Local Interactions
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Using Higher Order Information
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Colored by elevation
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Region Based Model
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Simple AlgorithmFor T iterations
Classify with current model
Create training set D from misclassifications(Over features from each clique)
Train favorite classifier OpenCV regression trees
Add classifier to model
D
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Experiments
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Table-top Objects
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Table-top Objects
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Only 3-D features (worst example)
Stapler Mouse
Mug Background
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Adding Image Features
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Results
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Stapler Mouse
Mug Background
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Results
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Stapler Mouse
Mug Background
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Results
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Stapler Mouse
Mug Background
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Results
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Stapler Mouse
Mug Background
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Results
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Stapler Mouse
Mug Background
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Results
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Stapler Mouse
Mug Background
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Room-sized Objects
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Floor Ceiling Column
Chair Table Wall
Cabinets
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Room-sized Objects
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Floor Ceiling Column
Chair Table Wall
Cabinets
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Room-sized Objects
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Floor Ceiling Column
Chair Table Wall
Cabinets
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More experiments requiredThere were no cabinets off the ground in training set
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Floor Ceiling Column
Chair Table Wall
Cabinets
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Available Future Work descriptors_3d
Faster neighborhood data structure (Marius, Ethan) Point Histogram Features (Radu, Gary) 3-D Chamfer distances (Marius)
point_cloud_clustering Ground plane removal and then clustering 2-D projections
(Caroline) Mean-shift, etc.
functional_m3n Random Forests, Neural nets (OpenCV) Boosted spheres (Alex T.)