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arXiv 2301.07037cs.CVcs.AI
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解释你所看到的:被遮挡3D物体的开放式分割和识别

Explain What You See: Open-Ended Segmentation and Recognition of Occluded 3D Objects

Imperial College London(帝国理工学院);University of Groningen(格罗宁根大学)

H. Ayoobi, H. Kasaei, M. Cao, R. Verbrugge, B. Verheij

摘要:

Local-HDP(Local Hierarchical Dirichlet Process)是一种分层贝叶斯方法,最近被用于开放式3D对象类别识别。这种方法已被证明是有效的实时机器人应用。然而,该方法对高度遮挡不鲁棒。我们分两步解决这个限制。首先,我们提出了一种新的语义3D对象部分分割方法,具有本地HDP的灵活性。这种方法被证明是适合于开放式的情况下,3D对象或对象部分的数量是不固定的,可以随着时间的推移而增长。我们表明,所提出的方法具有较高的百分比,平均交叉工会,使用较少的学习实例。其次,我们将这种技术与最近推出的基于论证的在线增量学习方法相结合,从而使模型能够处理高度的遮挡。我们表明,由此产生的模型产生一组明确的解释的3D对象类别识别任务。

英文摘要:

Local-HDP (for Local Hierarchical Dirichlet Process) is a hierarchical Bayesian method that has recently been used for open-ended 3D object category recognition. This method has been proven to be efficient in real-time robotic applications. However, the method is not robust to a high degree of occlusion. We address this limitation in two steps. First, we propose a novel semantic 3D object-parts segmentation method that has the flexibility of Local-HDP. This method is shown to be suitable for open-ended scenarios where the number of 3D objects or object parts is not fixed and can grow over time. We show that the proposed method has a higher percentage of mean intersection over union, using a smaller number of learning instances. Second, we integrate this technique with a recently introduced argumentation-based online incremental learning method, thereby enabling the model to handle a high degree of occlusion. We show that the resulting model produces an explicit set of explanations for the 3D object category recognition task.

机构、总结、中文摘要均由AI分析而来,可能存在错误,请以论文正文为准。

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