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结合物体先验和空域约束的室内空域布局推理

姚拓中 左文辉 宋加涛 应宏微

姚拓中, 左文辉, 宋加涛, 应宏微. 结合物体先验和空域约束的室内空域布局推理. 自动化学报, 2017, 43(8): 1402-1411. doi: 10.16383/j.aas.2017.c160043
引用本文: 姚拓中, 左文辉, 宋加涛, 应宏微. 结合物体先验和空域约束的室内空域布局推理. 自动化学报, 2017, 43(8): 1402-1411. doi: 10.16383/j.aas.2017.c160043
YAO Tuo-Zhong, ZUO Wen-Hui, SONG Jia-Tao, YING Hong-Wei. Estimating Spatial Layout of Cluttered Rooms by Using Object Prior and Spatial Constraints. ACTA AUTOMATICA SINICA, 2017, 43(8): 1402-1411. doi: 10.16383/j.aas.2017.c160043
Citation: YAO Tuo-Zhong, ZUO Wen-Hui, SONG Jia-Tao, YING Hong-Wei. Estimating Spatial Layout of Cluttered Rooms by Using Object Prior and Spatial Constraints. ACTA AUTOMATICA SINICA, 2017, 43(8): 1402-1411. doi: 10.16383/j.aas.2017.c160043

结合物体先验和空域约束的室内空域布局推理

doi: 10.16383/j.aas.2017.c160043
基金项目: 

浙江省公益类技术研究项目 2016C33255

宁波市自然科学基金 2015A610132

浙江省自然科学基金 LQ15F020004

宁波市自然科学基金 2013A610113

详细信息
    作者简介:

    左文辉 浙江大学信息与电子工程学院博士研究生.2007年获得浙江大学学士学位.主要研究方向为计算机视觉, 机器学习.E-mail:wenhuizuo@126.com

    宋加涛 宁波工程学院电信学院教授.2003年获得浙江大学博士学位.主要研究方向为图像处理, 模式识别.E-mail:sjt6612@163.com

    应宏微 宁波工程学院电信学院讲师.2004年获得浙江工业大学硕士学位.主要研究方向为图像处理, 视频压缩.E-mail:yinghongwei@163.com

    通讯作者:

    姚拓中 宁波工程学院电信学院讲师.2011年获得浙江大学博士学位.主要研究方向为计算机视觉, 机器学习.本文通信作者.E-mail:thomasyao@zju.edu.cn

Estimating Spatial Layout of Cluttered Rooms by Using Object Prior and Spatial Constraints

Funds: 

Zhejiang Provincial Public Welfare Technology Research Project 2016C33255

Ningbo Natural Science Foundation 2015A610132

Zhejiang Provincial Natural Science Foundation LQ15F020004

Ningbo Natural Science Foundation 2013A610113

More Information
    Author Bio:

    Ph.D. candidate at the College of Information Science and Electronic Engineering, Zhejiang University. He received his bachelor degree from Zhejiang University in 2007. His research interest covers computer vision and machine learning

    Professor at the School of Electronic and Information Engineering, Ningbo University of Technology. He received his Ph.D. degree from Zhejiang University in 2003. His research interest covers image processing and pattern recognition

    Lecturer at the School of Electronic and Information Engineering, Ningbo University of Technology. He received his master degree from Zhejiang University of Technology in 2004. His research interest covers image processing and video compressing

    Corresponding author: YAO Tuo-Zhong Lecturer at the School of Electronic and Information Engineering, Ningbo University of Technology. He received his Ph.D. degree from Zhejiang University in 2011. His research interest covers computer vision and machine learning. Corresponding author of this paper
  • 摘要: 对结构化室内场景的空域布局结构进行估计是计算机视觉领域的研究热点之一.然而,对于内部堆放了众多杂乱物体的室内场景,现有的大多数方法容易受到各种物体遮挡的影响而无法对这一类场景的布局结构进行准确推理.为此,本文方法充分考虑了房间和物体之间的几何和语义关联性,参数化地对房间和内部物体的三维体积分别进行描述,并且提出利用多种高层图像语义来获取物体的先验信息.此外,还在此基础上加入了空域排他性和空域位置等多种空域约束,进而在改进室内场景空域布局估计的同时为物体的识别和定位提供关键信息.本文方法不仅具有较低的求解复杂度,而且通过试验表明相比于现有的经典方法在杂乱的室内场景中能够取得更为鲁棒的空域布局推理结果.
    1)  本文责任编委 贾云得
  • 图  1  本文算法的基本流程

    Fig.  1  The flowchart of our algorithm

    图  2  角距离和直线段组的定义

    Fig.  2  The definitions of the angle distance and straight line groups

    图  3  基于立方体描述的房间结构假设

    Fig.  3  The cubic based room hypothesis

    图  4  候选的房间结构假设集

    Fig.  4  Candidate room hypothesis set

    图  5  基于不同高层图像语义的物体位置估计

    Fig.  5  Different high-level image semantic based object localization

    图  6  候选物体结构假设的生成

    Fig.  6  Candidate object hypothesis generation

    图  7  场景配置约束描述

    Fig.  7  Scene configuration

    图  8  室内场景的空域布局推理结果

    Fig.  8  Spatial layout estimation of indoor scenes

    图  9  不同房间结构假设估计方法的比较

    Fig.  9  Comparisons of different room hypothesis approaches

    图  10  不同高层图像语义在物体结构假设中的像素误差和物体识别率

    Fig.  10  The pixel error and object recognition rate of different high-level image semantics in object structure hypothesis

    表  1  房间结构假设误差

    Table  1  Room hypothesis error

    方法(OPP) A1 A2 A3 A4
    Pixel error 21.2 26.8 17.0 15.9
    Corner error 6.3 11.4 5.5 5.0
    下载: 导出CSV
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出版历程
  • 收稿日期:  2016-01-21
  • 录用日期:  2016-07-28
  • 刊出日期:  2017-08-20

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