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Indoor Scene Layout Estimation and Target Area Extraction Method Based on RGB-D Image

A technology for target areas and indoor scenes, applied in the field of artificial intelligence computing, can solve problems such as complex layout estimation and target extraction, and achieve the effect of improving segmentation effect, improving recall rate, and reducing computational complexity

Active Publication Date: 2020-11-13
NANJING UNIV OF POSTS & TELECOMM
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Problems solved by technology

[0005] In order to overcome the shortcomings of the above-mentioned prior art, the present invention takes into account the recall rate and rapidity, and solves the problems of layout estimation and target extraction in complex indoor scenes, and proposes a method for indoor scene layout estimation and target area extraction based on RGB-D images , achieving efficient and high-recall object region extraction for indoor scenes

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  • Indoor Scene Layout Estimation and Target Area Extraction Method Based on RGB-D Image

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[0017] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0018] figure 1 It is an overall flow chart of the RGB-D image-based indoor scene layout estimation and target area extraction method proposed by the embodiment of the present invention. The steps of this embodiment are as follows

[0019] Step (1) Scene layout estimation: first convert the depth map into a dense 3D point cloud, such as figure 2 As shown in , then the planar area and non-planar area are divided into planar area and non-planar area by calculating the three-dimensional Euclidean distance between point clouds, and the obtained planar area is classified into boundary plane and non-b...

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Abstract

The invention discloses an indoor scene layout estimation and target area extraction method based on RGB-D images, including: scene layout estimation; using a graph-based segmentation algorithm and a constraint parameter minimum cut algorithm to perform preprocessed depth images and RGB images Over-segmentation, to obtain a set of regions of different sizes; over-segmentation hierarchical grouping, using four different similarity measurement methods to merge regions to complete the region hierarchical grouping, to obtain target regions of all scale sizes; and target bounding box matching. The invention realizes efficient and high-recall target area extraction of indoor scenes.

Description

technical field [0001] The invention belongs to the technical field of artificial intelligence computing, in particular to a RGB-D image-based indoor scene layout estimation and target area extraction method, which is applied to indoor service robot technology. Background technique [0002] The research on indoor scene analysis is one of the research hotspots of scholars at home and abroad. It has important application value for indoor robot semantic positioning and map generation, and it is also of great significance for solving some advanced computer vision problems. The object segmentation and extraction algorithm aims to obtain high-quality object location and instance segmentation results, which is one of the key steps in scene analysis. The target extraction result is usually a target candidate area or a target bounding box. After years of development, target extraction algorithms can be divided into two categories: the first is an algorithm based on the idea of ​​slid...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/11G06T7/13G06T7/50G06K9/00
CPCG06T7/11G06T7/13G06T7/50G06T2207/10024G06T2207/10028G06T2207/20024G06V20/10
Inventor 吴晓秋霍智勇
Owner NANJING UNIV OF POSTS & TELECOMM
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