Vehicle pose estimation via regression of semantic points of interest
Cita com:
hdl:2117/181709
Tipus de documentText en actes de congrés
Data publicació2019
EditorInstitute of Electrical and Electronics Engineers (IEEE)
Condicions d'accésAccés obert
Llevat que s'hi indiqui el contrari, els
continguts d'aquesta obra estan subjectes a la llicència de Creative Commons
:
Reconeixement-NoComercial-SenseObraDerivada 3.0 Espanya
Abstract
In this paper we address the problem of extracting vehicle 3D pose from 2D RGB images. An accurate methodology is presented that is capable of locating 3D coordinates of 20 pre-defined semantic vehicle points of interest or keypoints from 2D information. The presented two-step pipeline provides a straightforward way of extracting three-dimensional information from planar images and avoiding also the usage of other sensor that would lead to a more expensive and hard to manage system. The main contribution of this work is the presented dedicated network architectures that are able to locate simultaneously occluded and visible semantic points of interest to convert these 2D points into 3D space in a simple but efficient way. The presented method uses a robust network based on Stack-Hourglass architecture for precise prediction of semantic 2D keypoints from vehicles even if they are occluded. Furthermore, in the second step another dedicated network converts the 2D points into 3D world coordinates and therefore, the 3D pose of the vehicle can be automatically extracted, outperforming state-of-the-art techniques in terms of accuracy.
Descripció
© 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
CitacióGarcia , J.; Agudo, A.; Moreno-Noguer, F. Vehicle pose estimation via regression of semantic points of interest. A: IEEE International Symposium on Image and Signal Processing and Analysis (ISPA). "Proceedings of 11th International Symposium on Image and Signal Processing and Analysis (ISPA), Dubrovnik, Croatia, 2019". Institute of Electrical and Electronics Engineers (IEEE), 2019, p. 209-214.
ISBN978-1-7281-3140-5
Versió de l'editorhttps://ieeexplore.ieee.org/document/8868508
Col·leccions
- IRI - Institut de Robòtica i Informàtica Industrial, CSIC-UPC - Ponències/Comunicacions de congressos [575]
- ROBiri - Grup de Percepció i Manipulació Robotitzada de l'IRI - Ponències/Comunicacions de congressos [251]
- Doctorat en Automàtica, Robòtica i Visió - Ponències/Comunicacions de congressos [165]
Fitxers | Descripció | Mida | Format | Visualitza |
---|---|---|---|---|
2232-Vehicle-po ... tic-points-of-interest.pdf | 2,258Mb | Visualitza/Obre |