Globally Optimal Inlier Set Maximization for Atlanta World Understanding

Cited 1 time in webofscience Cited 0 time in scopus
  • Hit : 36
  • Download : 0
In this work, we describe man-made structures via an appropriate structure assumption, called the Atlanta world assumption, which contains a vertical direction (typically the gravity direction) and a set of horizontal directions orthogonal to the vertical direction. Contrary to the commonly used Manhattan world assumption, the horizontal directions in Atlanta world are not necessarily orthogonal to each other. While Atlanta world can encompass a wider range of scenes, this makes the search space much larger and the problem more challenging. Our input data is a set of surface normals, for example, acquired from RGB-D cameras or 3D laser scanners, as well as lines from calibrated images. Given this input data, we propose the first globally optimal method of inlier set maximization for Atlanta direction estimation. We define a novel search space for Atlanta world, as well as its parametrization, and solve this challenging problem using a branch-and-bound (BnB) framework. To alleviate the computational bottleneck in BnB, i.e., the bound computation, we present two bound computation strategies: rectangular bound and slice bound in an efficient measurement domain, i.e., the extended Gaussian image (EGI). In addition, we propose an efficient two-stage method which automatically estimates the number of horizontal directions of a scene. Experimental results with synthetic and real-world datasets have successfully confirmed the validity of our approach.
Publisher
IEEE COMPUTER SOC
Issue Date
2020-10
Language
English
Article Type
Article
Citation

IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE, v.42, no.10, pp.2656 - 2669

ISSN
0162-8828
DOI
10.1109/TPAMI.2019.2909863
URI
http://hdl.handle.net/10203/276572
Appears in Collection
EE-Journal Papers(저널논문)GCT-Journal Papers(저널논문)
Files in This Item
There are no files associated with this item.
This item is cited by other documents in WoS
⊙ Detail Information in WoSⓡ Click to see webofscience_button
⊙ Cited 1 items in WoS Click to see citing articles in records_button

qr_code

  • mendeley

    citeulike


rss_1.0 rss_2.0 atom_1.0