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Paper in CVPR 2014 “Efficient Hierarchical Graph-Based Segmentation of RGBD Videos”

June 22nd, 2014 Irfan Essa Posted in Computer Vision, Henrik Christensen, Papers, Steven Hickson No Comments »

  • S. Hickson, S. Birchfield, I. Essa, and H. Christensen (2014), “Efficient Hierarchical Graph-Based Segmentation of RGBD Videos,” in Proceedings of IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2014. [PDF] [WEBSITE] [BIBTEX]
      Author = {Steven Hickson and Stan Birchfield and Irfan Essa and Henrik Christensen},
      Booktitle = {{Proceedings of IEEE Conference on Computer Vision and Pattern Recognition (CVPR)}},
      Date-Added = {2014-06-22 14:44:17 +0000},
      Date-Modified = {2014-06-22 14:53:26 +0000},
      Organization = {IEEE Computer Society},
      Pdf = {},
      Title = {Efficient Hierarchical Graph-Based Segmentation of RGBD Videos},
      Url = {},
      Year = {2014}}


We present an efficient and scalable algorithm for seg- menting 3D RGBD point clouds by combining depth, color, and temporal information using a multistage, hierarchical graph-based approach. Our algorithm processes a moving window over several point clouds to group similar regions over a graph, resulting in an initial over-segmentation. These regions are then merged to yield a dendrogram using agglomerative clustering via a minimum spanning tree algorithm. Bipartite graph matching at a given level of the hierarchical tree yields the final segmentation of the point clouds by maintaining region identities over arbitrarily long periods of time. We show that a multistage segmentation with depth then color yields better results than a linear combination of depth and color. Due to its incremental process- ing, our algorithm can process videos of any length and in a streaming pipeline. The algorithm’s ability to produce robust, efficient segmentation is demonstrated with numerous experimental results on challenging sequences from our own as well as public RGBD data sets.

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Funding (2011): NSF (1059362): “II-New: Motion Grammar Laboratory”

March 1st, 2011 Irfan Essa Posted in Henrik Christensen, Mike Stilman, NSF No Comments »

II-New: Motion Grammar Laboratory (Stillman, Essa, Egerstadt, Christensen, Ueda) Division of Computer and Network Systems Instrumentation Grant.

An anthropomorphic robot arm and a human capture system enable the autonomous performance of assembly tasks with significant uncertainty in problem specifications and environments. This line of work is investigated through sequences of manipulation actions where the guarantee of the completion of task-level objectives is rooted in the discovery of the semantic structure of human manipulation. New research directions in anthropomorphic robotics are explored including programming by demonstration, activity recognition, control and estimation and planning.

The motion grammar laboratory infrastructure allows a great opportunity for research and education. New classroom experiences for undergraduates and graduates provide practical experience in robot human interaction and activity process sharing. This opens possibilities for human training and rehabilitation, as well as assistive personal robotic, and opens the door to a host of technological innovations.

via Award#1059362 – II-New: Motion Grammar Laboratory.

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