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master's thesis
Semantička segmentacija RGB-D slike unutrašnjih prostora
2015. urn:nbn:hr:200:551948
Šimić, Kristijan
Josip Juraj Strossmayer University of Osijek
Faculty of Electrical Engineering, Computer Science and Information Technology Osijek
Department of Computer Engineering and Automation
Chair of Automation and Robotics

Cite this document

Šimić, K. (2015). Semantička segmentacija RGB-D slike unutrašnjih prostora (Master's thesis). Osijek: Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek. Retrieved from https://urn.nsk.hr/urn:nbn:hr:200:551948

Šimić, Kristijan. "Semantička segmentacija RGB-D slike unutrašnjih prostora." Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, 2015. https://urn.nsk.hr/urn:nbn:hr:200:551948

Šimić, Kristijan. "Semantička segmentacija RGB-D slike unutrašnjih prostora." Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, 2015. https://urn.nsk.hr/urn:nbn:hr:200:551948

Šimić, K. (2015). 'Semantička segmentacija RGB-D slike unutrašnjih prostora', Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, accessed 26 January 2025, https://urn.nsk.hr/urn:nbn:hr:200:551948

Šimić K. Semantička segmentacija RGB-D slike unutrašnjih prostora [Master's thesis]. Osijek: Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek; 2015 [cited 2025 January 26] Available at: https://urn.nsk.hr/urn:nbn:hr:200:551948

K. Šimić, "Semantička segmentacija RGB-D slike unutrašnjih prostora", Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, Osijek, 2015. Available at: https://urn.nsk.hr/urn:nbn:hr:200:551948

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Metadata
TitleSemantička segmentacija RGB-D slike unutrašnjih prostora
Title (english)Semantic Segmentation of RGB-D Images of Indoor Environments
AuthorKristijan Šimić
MentorRobert Cupec (mentor)
Committee memberRobert Cupec (predsjednik povjerenstva)
Committee memberEmmanuel Karlo Nyarko (član povjerenstva)
Committee memberRatko Grbić (član povjerenstva)
GranterJosip Juraj Strossmayer University of Osijek
Faculty of Electrical Engineering, Computer Science and Information Technology Osijek
(Department of Computer Engineering and Automation)
(Chair of Automation and Robotics)
Osijek
Defense date and country2015-12-17, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Computing
Process Computing
Abstract
U ovom radu je analiziran jedan pristup rješavanju problema semantičke segmentacije dubinskih slika unutrašnjih prostora. Proučeni su algoritmi korišteni u predloženoj metodi, kao i njihove programske implementacije. Rješavanjem problema semantičke segmentacije slike znatno bi se poboljšala sposobnost robota za samostalan rad u nepoznatim okruženjima. Problem se svodi na svrstavanje dijelova slike u neke unaprijed određene kategorije. U ovom slučaju te kategorije su pod, strukture, namještaj i rekviziti. Predložena metoda kategorizira dijelove slike koristeći uvjetna slučajna polja. Slika se najprije segmentira na superpiksele, koji služe kao čvorovi grafa uvjetnog slučajnog polja. Potencijali uvjetnog slučajnog polja određeni su vizualnim i geometrijskim značajkama superpiksela. Struktura grafa je minimalno razapinjuće stablo, pri čemu je težina brida određena na temelju udaljenosti centroida dvaju superpiksela u trodimenzionalnom prostoru. U okviru ovog rada proučena je jedna metoda zaključivanja i dekodiranja uvjetnih slučajnih polja koja omogućuje pronalaženje optimalne segmentacije. Učinkovitost predložene metode ispitana je eksperimentima na ispitnom skupu dubinskih slika unutrašnjih prostora.
Abstract (english)
This thesis considers an approach for semantic segmentation of RGB-D images of indoor environments. The algorithms used in this approach are described and their implementation in the provided source code is explained. Solving the problem of semantic RGB-D image segmentation would significantly improve the capacity of robots for autonomous problem solving in unknown environments. The considered problem is to classify parts of an image into a set of predefined categories. In this case, the categories are ground, structure, furniture and props. The discussed method does this using the conditional random fields. The image is first segmented into superpixels, which serve as nodes in a CRF graph, where the CRF potentials are defined by visual and geometric features of the superpixels that the image is divided into. The structure of the CRF graph is a minimum spanning tree, with the weight of the graph edges being defined by the distance between the superpixel centroids in three-dimensional space. One method for CRF inference and decoding, which provides an optimal segmentation, is examined. The efficacy of the considered approach is tested on a set of RGB-D images of indoor environments.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:200:551948
Study programmeTitle: Graduate University Study Programme in Computer Engineering
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka računarstva (magistar/magistra inženjer/inženjerka računarstva)
Type of resourceText
File originBorn digital
Access conditionsOpen access
Terms of useLicence In copyright icon
Created on2016-08-01 11:31:26