TY - JOUR
T1 - Using surfaces and surface relations in an early cognitive vision system
AU - Kraft, Dirk
AU - Mustafa, Wail
AU - Popovic, Mila
AU - Jessen, Jeppe Barsøe
AU - Buch, Anders Glent
AU - Savarimuthu, Thiusius Rajeeth
AU - Pugeault, Nicolas
AU - Krüger, Norbert
PY - 2015/11
Y1 - 2015/11
N2 - 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.
AB - 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.
U2 - 10.1007/s00138-015-0705-y
DO - 10.1007/s00138-015-0705-y
M3 - Journal article
SN - 0932-8092
VL - 26
SP - 933
EP - 954
JO - Machine Vision and Applications
JF - Machine Vision and Applications
IS - 7-8
ER -