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Open AccessJournal ArticleDOI

Efficient Graph-Based Image Segmentation

TLDR
An efficient segmentation algorithm is developed based on a predicate for measuring the evidence for a boundary between two regions using a graph-based representation of the image and it is shown that although this algorithm makes greedy decisions it produces segmentations that satisfy global properties.
Abstract
This paper addresses the problem of segmenting an image into regions. We define a predicate for measuring the evidence for a boundary between two regions using a graph-based representation of the image. We then develop an efficient segmentation algorithm based on this predicate, and show that although this algorithm makes greedy decisions it produces segmentations that satisfy global properties. We apply the algorithm to image segmentation using two different kinds of local neighborhoods in constructing the graph, and illustrate the results with both real and synthetic images. The algorithm runs in time nearly linear in the number of graph edges and is also fast in practice. An important characteristic of the method is its ability to preserve detail in low-variability image regions while ignoring detail in high-variability regions.

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Journal ArticleDOI

Pedestrian lane detection in unstructured scenes for assistive navigation

TL;DR: A lane appearance model is constructed adaptively from a sample image region, which is identified automatically from the image vanishing point, and a fast and robust vanishing point estimation method based on the color tensor and dominant orientations of color edge pixels is introduced.
Proceedings ArticleDOI

Omnidirectional image capture on mobile devices for fast automatic generation of 2.5D indoor maps

TL;DR: A light-weight automatic method to quickly capture and recover 2.5D multi-room indoor environments scaled to real-world metric dimensions and defines a specialized spatial transform based on catadioptric theory to highlight the room's structure in a virtual projection to formalize the problem as a global optimization solved by Levenberg-Marquardt iterations.
Proceedings ArticleDOI

Autonomous operation of novel elevators for robot navigation

TL;DR: This paper uses state-of-the-art vision algorithms along with machine learning techniques to take advantage of contextual features to address the key challenge of autonomous interaction with an unknown elevator button panel.
Journal ArticleDOI

A Robust 3D-2D Interactive Tool for Scene Segmentation and Annotation

TL;DR: In this article, the authors propose a robust annotation tool that effectively and conveniently enables the segmentation and annotation of massive 3D scene data by coupling 2D and 3D information via an interactive framework, through which users can provide high-level semantic annotation for objects.
Journal ArticleDOI

An evaluation of the compactness of superpixels

TL;DR: A metric to measure the compactness of superpixels and an algorithm that offers both a transparent and easy-to-use compactness control with an optional lattice guarantee is proposed and it is shown that there is a negative correlation between compactness and boundary recall.
References
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Book

Introduction to Algorithms

TL;DR: The updated new edition of the classic Introduction to Algorithms is intended primarily for use in undergraduate or graduate courses in algorithms or data structures and presents a rich variety of algorithms and covers them in considerable depth while making their design and analysis accessible to all levels of readers.
Proceedings ArticleDOI

Normalized cuts and image segmentation

TL;DR: This work treats image segmentation as a graph partitioning problem and proposes a novel global criterion, the normalized cut, for segmenting the graph, which measures both the total dissimilarity between the different groups as well as the total similarity within the groups.
Journal ArticleDOI

Graph-Theoretical Methods for Detecting and Describing Gestalt Clusters

TL;DR: A family of graph-theoretical algorithms based on the minimal spanning tree are capable of detecting several kinds of cluster structure in arbitrary point sets; description of the detected clusters is possible in some cases by extensions of the method.
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