Using surfaces and surface relations in an early cognitive vision system

Dirk Kraft, Wail Mustafa, Mila Popovic, Jeppe Barsøe Jessen, Anders Glent Buch, Thiusius Rajeeth Savarimuthu, Nicolas Pugeault, Norbert Krüger

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Abstract

We present a deep hierarchical visual system with two parallel hierarchies for edge and surface information. In the two hierarchies, complementary visual information is represented on different levels of granularity together with the associated uncertainties and confidences. At all levels geometric and appearance information is coded explicitly in 2D and 3D allowing to access this information separately and to link between the different levels. We demonstrate the advantages of such hierarchies in three applications covering grasping, view-point independent object representation, and pose estimation.
OriginalsprogEngelsk
TidsskriftMachine Vision and Applications
Vol/bind26
Udgave nummer7-8
Sider (fra-til)933-954
ISSN0932-8092
DOI
StatusUdgivet - nov. 2015

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