ARC Colloquium in conjunction with Computer Vision for Robotics Workshop

There will be time for interaction with the speaker at the end of the seminar. Light refreshment will be served.

Registration is complimentary but pre-registration is required. Please register at https://goo.gl/forms/d38sRSY3ORMXbZud2 by 18 November 2016.

For enquiry, please email: robotics@nus.edu.sg

ARC Colloquium Talk: Semantic 3D Reconstruction While purely geometric models of the world can be sufficient for some applications, there are also many applications that need additional semantic information. In this talk, I will focus on 3D reconstruction approaches that combine geometric and appearance cues to obtain semantic 3D reconstructions. Specifically, the approaches I will discuss are formulated as multi-label volumetric segmentation, i.e. each voxel gets assigned a label corresponding to one of the semantic classes considered, including free-space. We propose a formulation representing raw geometric and appearance data as unary or high-order (pixel-ray) energy terms on voxels, with class-pair-specific, learned anisotropic smoothness terms to regularize the results. We will see how by solving both reconstruction and segmentation/recognition jointly the quality of the results improves significantly and we can make progress towards 3D scene understanding.