Thesis

[gfish]

Just officially submitted the thesis, removing the barrier to the final signature. I guess I should get showered and head on in.

If for some reason you, my gentle reader, care to read it...

Using the structure and motion of stereo point clouds for the semantic segmentation of images

The segmentation of images into semantically coherent regions has been approached in many different ways in the over 40 years since the problem was first addressed. Recently systems using the motion of point clouds derived from laser depth scanners and structure from motion have been described, but these are monetarily and computationally expensive options. We explore the use of stereo cameras to achieve the same results. This approach is shown to work in an indoor environment, giving results that compare favorably with existing systems. The use of stereo instead of structure from motion is shown to be preferable in this environment, while the choice of stereo algorithm proves highly critical to the quality of the results. The use of aggregated voting regions is explored, which is shown to moderately improve the results while speeding up the process considerably. Experiments are also run biasing the randomized input to the classifier generation process, which show further improvements in both performance and execution time. Overall, the approach is shown to be feasible, but not currently practical for robotic navigation in this environment.

Comments

[catsittingstill.livejournal.com]

Congratulations!

[cow.livejournal.com]

\o/

Congratulations }:D

[solarbird]

YAY!
Congratulations! ^_^

[arjache.livejournal.com]

Awesome! Congrats!

[peteralway.livejournal.com]

Congratulations!

(But only one stereo pair in the whole paper to look at? After a youth wasted developing the skills to view them without a stereoscope? Sigh)

[gfish.livejournal.com]

Ha, I always do that too, whenever I see any slightly repeating pattern. I blame the Games Magazine article that introduced stereograms.

But if you want more, I've got thousands of frames:



(Ignore the depth map at the bottom, this was the result of a not-very-good experiment.)

[peteralway.livejournal.com]

Ah, that's satisfyingly trimensional!

[peteralway.livejournal.com]

This is all I've got to link to:



Duplicated so that you can yous parallel or cross-eyed viewing at your discretion.

[tmfkan64.livejournal.com]

Congrats, soon-to-be-Doctor-Fish!

[keystricken.livejournal.com]

Finishing your thesis is totally punk rock.