自由形状変形に基づく能動輪郭による画像分割と自由空間認識
Free Form based active contours for image segmentation and free space perception
区分的ベジェモデルと局所的自由形状変形を組み合わせた新しい能動輪郭手法を提案し、ロボットの全方位画像による自由空間認識と画像分割を高速・リアルタイムに実現した。
著者: Ouiddad Labbani I., Pauline Merveilleux O, Olivier Ruatta
分類: cs.RO, cs.CV
原文アブストラクト
In this paper we present a novel approach for representing and evolving deformable active contours. The method combines piecewise regular B{\'e}zier models and curve evolution defined by local Free Form Deformation. The contour deformation is locally constrained which allows contour convergence with almost linear complexity while adapting to various shape settings and handling topology changes of the active contour. We demonstrate the effectiveness of the new active contour scheme for visual free space perception and segmentation using omnidirectional images acquired by a robot exploring unknown indoor and outdoor environments. Several experiments validate the approach with comparison to state-of-the art parametric and geometric active contours and provide fast and real-time robot free space segmentation and navigation.
