Indoor scene recognition through object detection

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dc.contributor.authorEspinace Ronda, Pablo Andrés
dc.contributor.authorKollar, T.
dc.contributor.authorSoto, A.
dc.contributor.authorRoy, N.
dc.date.accessioned2022-05-13T19:15:16Z
dc.date.available2022-05-13T19:15:16Z
dc.date.issued2010
dc.description.abstractScene recognition is a highly valuable perceptual ability for an indoor mobile robot, however, current approaches for scene recognition present a significant drop in performance for the case of indoor scenes. We believe that this can be explained by the high appearance variability of indoor environments. This stresses the need to include high-level semantic information in the recognition process. In this work we propose a new approach for indoor scene recognition based on a generative probabilistic hierarchical model that uses common objects as an intermediate semantic representation. Under this model, we use object classifiers to associate low-level visual features to objects, and at the same time, we use contextual relations to associate objects to scenes. As a further contribution, we improve the performance of current state-of-the-art category-level object classifiers by including geometrical information obtained from a 3D range sensor that facilitates the implementation of a focus of attention mechanism within a Monte Carlo sampling scheme. We test our approach using real data, showing significant advantages with respect to previous state-of-the-art methods.
dc.fuente.origenIEEE
dc.identifier.doi10.1109/ROBOT.2010.5509682
dc.identifier.isbn978-1424450381
dc.identifier.issn1050-4729
dc.identifier.urihttps://doi.org/10.1109/ROBOT.2010.5509682
dc.identifier.urihttps://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=5509682
dc.identifier.urihttps://repositorio.uc.cl/handle/11534/63867
dc.information.autorucEscuela de ingeniería ; Espinace Ronda, Pablo ; S/I ; 3892
dc.information.autorucEscuela de ingeniería ; Soto Arriaza, Alvaro ; S/I ; 73678
dc.language.isoen
dc.nota.accesoContenido parcial
dc.publisherIEEE
dc.relation.ispartofIEEE International Conference on Robotics and Automation (2010 : Anchorage, AK, Estados Unidos)
dc.rightsacceso restringido
dc.subjectLayout
dc.subjectObject detection
dc.subjectMobile robots
dc.subjectImage segmentation
dc.subjectObject recognition
dc.subjectTraining data
dc.subjectFocusing
dc.subjectPsychology
dc.subjectComputer vision
dc.subjectComputer science
dc.titleIndoor scene recognition through object detectiones_ES
dc.typecomunicación de congreso
sipa.codpersvinculados3892
sipa.codpersvinculados73678
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