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Channel coding for joint colour and depth segmentation
Wallenberg, Markus; Felsberg, Michael; Forssen, Per-Erik; Dellen, Babette
Universitat Politècnica de Catalunya. Institut de Robòtica i Informàtica Industrial; Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI
Segmentation is an important preprocessing step in many applications. Compared to colour segmentation, fusion of colour and depth greatly improves the segmentation result. Such a fusion is easy to do by stacking measurements in di erent value dimensions, but there are better ways. In this paper we perform fusion using the channel representation, and demonstrate how a state-of-the-art segmentation algorithm can be modi ed to use channel values as inputs. We evaluate segmentation results on data collected using the Microsoft Kinect peripheral for Xbox 360, using the superparamagnetic clustering algorithm. Our experiments show that depth gradients are more useful than depth values for segmentation, and that channel coding both colour and depth gradients makes tuned parameter settings generalise better to novel images.
Peer Reviewed
Àrees temàtiques de la UPC::Ciències de la visió
Color separation
Pattern perception
Color vision
Percepció de les estructures
Percepció visual
Color -- Separació
Classificació INSPEC::Pattern recognition::Computer vision
info:eu-repo/semantics/updatedVersion
info:eu-repo/semantics/conferenceObject
Springer
         

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