Related papers: Arc-support Line Segments Revisited: An Efficient …

The presence of outliers can significantly degrade the performance of ellipse fitting methods. We develop an ellipse fitting method that is robust to outliers based on the maximum correntropy criterion with variable center (MCC-VC), where a…

Line segment extraction is effective for capturing geometric features of human-made environments. Event-based cameras, which asynchronously respond to contrast changes along edges, enable efficient extraction by reducing redundant data.…

This paper studies the problem of Line Segment Detection (LSD) for the characterization of line geometry in images, with the aim of learning a domain-agnostic robust LSD model that works well for any natural images. With the focus of…

Visual scene decomposition into semantic entities is one of the major challenges when creating a reliable object grasping system. Recently, we introduced a bottom-up hierarchical clustering approach which is able to segment objects and…

We consider the problem of extracting curve skeletons of three-dimensional, elongated objects given a noisy surface, which has applications in agricultural contexts such as extracting the branching structure of plants. We describe an…

Panoptic segmentation of point clouds is a crucial task that enables autonomous vehicles to comprehend their vicinity using their highly accurate and reliable LiDAR sensors. Existing top-down approaches tackle this problem by either…

Staircases are some of the most common building structures in urban environments. Stair detection is an important task for various applications, including the environmental perception of exoskeleton robots, humanoid robots, and rescue…

An image line segment is a fundamental low-level visual feature that delineates straight, slender, and uninterrupted portions of objects and scenarios within images. Detection and description of line segments lay the basis for numerous…

Detection of circular objects in digital images is an important problem in several vision applications. Circle detection using randomized sampling has been developed in recent years to reduce the computational intensity. Randomized…

Although semi-dense Simultaneous Localization and Mapping (SLAM) has been becoming more popular over the last few years, there is a lack of efficient methods for representing and processing their large scale point clouds. In this paper, we…

In this paper, a novel learning paradigm is presented to automatically identify groups of informative and correlated features from very high dimensions. Specifically, we explicitly incorporate correlation measures as constraints and then…

In this paper, we propose a method for initial camera pose estimation from just a single image which is robust to viewing conditions and does not require a detailed model of the scene. This method meets the growing need of easy deployment…

The recent advances of convolutional detectors show impressive performance improvement for large scale object detection. However, in general, the detection performance usually decreases as the object classes to be detected increases, and it…

We focus on the analysis of planar shapes and solid objects having thin features and propose a new mathematical model to characterize them. Based on our model, that we call an epsilon-shape, we show how thin parts can be effectively and…

We show the effectiveness of automatic differentiation in efficiently and correctly computing and controlling the spectrum of implicitly linear operators, a rich family of layer types including all standard convolutional and dense layers.…

Superpixel decomposition methods are generally used as a pre-processing step to speed up image processing tasks. They group the pixels of an image into homogeneous regions while trying to respect existing contours. For all state-of-the-art…

This paper presents a state-of-the-art approach in object detection for being applied in future SLAM problems. Although, many SLAM methods are proposed to create suitable autonomy for mobile robots namely ground vehicles, they still face…

This paper presents a model-driven approach to detect image line segments. The approach incrementally detects segments on the gradient image using a linear Kalman filter that estimates the supporting line parameters and their associated…

Recently, there has been a panoptic segmentation task combining semantic and instance segmentation, in which the goal is to classify each pixel with the corresponding instance ID. In this work, we propose a solution to tackle the panoptic…

In this paper, we introduces a new type of line-shaped image representation, named semantic line segment (Sem-LS) and focus on solving its detection problem. Sem-LS contains high-level semantics and is a compact scene representation where…