Towards simultaneous place classification and object detection based on conditional random field with multiple cues

Publication Type:
Conference Proceeding
IEEE International Conference on Intelligent Robots and Systems, 2013, pp. 2806 - 2811
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Simultaneous place classification and object detection (SPCOD) is an algorithm which is able to categorize the environment (place) and detect the objects presented in the environment. Although both place classification and object detection problems have been in discussion in literature, as a concept SPCOD is still in its early stage of research. Focusing mainly on the discrimination ability of SPCOD, in this paper we have proposed a pairwise conditional random field (CRF) framework to integrate mature techniques on laser data based place classification and vision based off-the-shelf object descriptor. Extensive experimental results on a public data set demonstrate the effectiveness of the proposed method. © 2013 IEEE.
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