An integrated segmentation approach for color images and depth maps is proposed. The 3D pointclouds are characterized by normal vectors and then grouped into planar, concave or convex faces. The empty regions in the depth map are filled by segments of the associated color image. In the experimental part two types of depth maps are analysed: generated by the MS-Kinect sensor or by a stereo-pair ...

We present our approach for scene classification in dense disparity maps from a binocular stereo system. The classification result is used for tracking and navigation purposes. The presented system is capable of foreground-background separation classifying room structures. The 3D model of the scene is derived directly from the disparity image. This approach is used for initial target selection ...

Appearance-based place recognition systems have been shown to be effective for large-scale mapping but have notable shortcomings. Visual bag-of-words dictionaries require offline training, have tens of thousands of words, and are susceptible to changing environments, either due to lighting or physical changes, between training and deployment. Recent advances allow for online 3D mapping and segm...

In this paper, we present an algorithm for real-time tracking of articulated structures in dense disparity maps derived from stereo image sequences. A statistical image formation model that accounts for occlusions plays the central role in our tracking approach. This graphical model (a Bayesian network) assumes that the range image of each part of the structure is formed by drawing the depth ca...

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Longterm localization and mapping requires the ability to detect when places are being revisited to “close loops” and mitigate odometry drift. The appearance-based approaches solve this problem by using visual descriptors to associate camera imagery. This method has proven remarkably successful, yet performance will always degrade with drastic changes in viewpoint or illumination. In this paper...

In this paper we describe a real-time system for detecting pointing gestures and estimating the direction of pointing using stereo cameras. Previously, similar systems where implemented using color-based blob trackers, which relied on effective skin color detection; this approach is sensitive to lighting changes and the clothing worn by the user. In contrast, we used a stereo system that produc...

Dense RGB-D SLAM techniques and high-fidelity LIDAR scanners are examples from an abundant set of systems capable of providing multi-million point datasets. These datasets quickly become difficult to process due to the sheer volume of data, typically containing significant redundant information, such as the representation of planar surfaces with millions of points. In order to exploit the richn...

In this paper we present a framework for semantic scene parsing and object recognition based on dense depth maps. Five viewindependent 3D features that vary with object class are extracted from dense depth maps at a superpixel level for training a classifier using randomized decision forest technique. Our formulation integrates multiple features in a Markov Random Field (MRF) framework to segme...

OBJECTIVE SNP maps are becoming the gold standard for genetic markers, even for linkage analyses. However, because of the density of SNPs on most high throughput platforms, the resulting significant linkage disequilibrium (LD) can bias classical nonparametric multipoint linkage analyses. This problem may be even stronger in population isolates where LD can extend over larger distances and with ...