Active 3D scene segmentation and detection of unknown objects

Abstract— We present an active vision system for segmentation of visual scenes based on integration of several cues. The system serves as a visual front end for generation of object hypotheses for new, previously unseen objects in natural scenes. The system combines a set of foveal and peripheral cameras where, through a stereo based fixation process, object hypotheses are generated. In addition to considering the segmentation process in 3D, the main contribution of the paper is integration of different cues in a temporal framework and improvement of initial hypotheses over time.

• Type: Journal
• Year: 2010
• Where: ICRA
• Authors: Mårten Björkman, Danica Kragic
• Keywords: Hypotheses, ICRA 2010, Initial Hypotheses, Robotics, Stereo Based fixation