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Summary: Active Segmentation for Robotics
Ajay Mishra Yiannis Aloimonos Cornelia Fermuller
Institute for Advanced Computer Studies
University of Maryland, College Park, MD 20742
{mishraka@umiacs,yiannis@cs,fer@umiacs}.umd.edu
Abstract-- The semantic robots of the immediate future are
robots that will be able to find and recognize objects in any
environment. They need the capability of segmenting objects in
their visual field. In this paper, we propose a novel approach
to segmentation based on the operation of fixation by an active
observer. Our approach is different from current approaches:
while existing works attempt to segment the whole scene at once
into many areas, we segment only one image region, specifically
the one containing the fixation point. Furthermore, our solution
integrates monocular cues (color, texture) with binocular cues
(stereo disparities and optical flow). Experiments with real
imagery collected by our active robot and from the known
databases [1] demonstrate the promise of the approach.
I. INTRODUCTION
Twenty years ago, researchers asked a number of basic
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