Synopsis

On
A

Combining Semantic and Geometric

Features for Object Class Segmentation
of Indoor

Submitted by:
1) Mr.
2) Miss.
Guided by:
Prof.

ABSTRACT:
Scene understanding is a necessary prerequisite for robots acting
autonomously in complex environments. Low-cost RGB-D cameras such as
Microsoft Kinect enabled new methods for analyzing indoor scenes and are now
ubiquitously used in indoor robotics.
Proposed System addresses the fundamental problem of semantic scene
segmentation of indoor scenes. Assigning class labels to every pixel in real-world
images is challenging, as objects may be heavily occluded, appear in a wide range
of configurations, and viewed from different camera view- points and distances. In
addition, indoor scenes typically consist of a relatively large number of alike
objects that are often cluttered and in disorder, reflecting various lifestyles. Our
goal is to partition the image by identifying subimage ownership among
occurrences of distinct object classes. The recent advent of Microsoft Kinect
alleviated some of these challenges, and thus enabled an exciting new direction of
approaches to semantic scene segmentation. Equipped with an active infrared
structured light sensor, Kinect is able to provide the depth information of objects in
the scene which is aligned syn-chronously with their color images. Since indoor
scenes are typically characterized by large planar surfaces (e.g., floor, walls, table
tops), and objects can often be interpreted in relation to those surfaces, semantic
scene segmentation can be largely facilitated by properly integrating visual cues
with detailed and accurate geometric structure of the scene surfaces provided by
Kinect.

INTRODUCTION:
Understanding complex scenes has gained much in importance as the applications
of service robots for homes and offices is increasing. Dense structural description
of the indoor scenes is vital for performing accurate analyses. To serve this
purpose, the usage of RGB-D cameras is becoming ubiquitous, as they provide
color images and dense depth maps of the scene. Tasks such as picking up
objects and planning manipulation actions [13] are simplified once the precise
location of objects in the scene is identified. One way to facilitate object
localization is to perform pixelwise semantic labeling of the scene [4]. This
involves identification and labeling of different object classes based on the
semantics of the scene. Recently, Convolutional Neural Networks (CNNs) have
shown impressive results for semantic labeling [5, 6]. The architecture of the CNN
together with the used input features are important factors determining the quality
of learned scene semantics. This work addresses these aspects with proposed
novelties to improve the accuracy in semantic labeling.
PROBLEM STATEMENT:
The problem of semantic understanding of indoors environments is central to many
service robotic applications where objects need to be sought and recognized. The
two most common strategies for tackling the problem of object detection/search is
to either train an object category or instance specific detector or approach the
problem as one of semantic segmentation where a partition of the sensory
data is labeled with the semantic categories we deal with natural indoor scenes
which are usually unbalanced with respect to the size and number of objects.

OBJECTIVES:
1) To enables the deep learning model to learn from a more detailed
representation of a scene.
2) To enabled drastic improvement of SLAM in mobile robotics, we propose
that dramatically improving the quality of depth estimation on mobile
manipulators can enable new classes of algorithms and higher levels of
performance .
MOTIVATION
Augmenting vision algorithms with 3D sensing has the potential to reduce some of
the difficulties inherent in image- only object recognition. Prior work has shown
that low- resolution depth information can improve object detection by removing
object classifications which are inconsistent with training data.
.
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