사전위치정보를 이용한 도심 영상의 의미론적 분할 Semantic Segmentation of Urban Scenes Using Location Prior Information

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This paper proposes a method to segment urban scenes semantically based on location prior information. Since major scene elements in urban environments such as roads, buildings, and vehicles are often located at specific locations, using the location prior information of these elements can improve the segmentation performance. The location priors are defined in special 2D coordinates, referred to as road-normal coordinates, which are perpendicular to the orientation of the road. With the help of depth information to each element, all the possible pixels in the image are projected into these coordinates and the learned prior information is applied to those pixels. The proposed location prior can be modeled by defining a unary potential of a conditional random field (CRF) as a sum of two sub-potentials: an appearance feature-based potential and a location potential. The proposed method was validated using publicly available KITTI dataset, which has urban images and corresponding 3D depth measurements.
Publisher
한국로봇학회
Issue Date
2017-09
Language
Korean
Keywords

Semantic Segmentation; Location Prior Map; Road-normal Coordinates

Citation

로봇학회 논문지, v.12, no.3, pp.249 - 257

ISSN
1975-6291
DOI
10.7746/jkros.2017.12.3.249
URI
http://hdl.handle.net/10203/225988
Appears in Collection
ME-Journal Papers(저널논문)
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