Robotics: Science and Systems VII

Visual Segmentation of Simple Objects for Robots

Ajay Mishra, Yiannis Aloimonos


The ability to automatically segment a simple object of any size from its background is important for an active agent (e.g. a robot) to interact effectively in the real world. Recently, we proposed an algorithm [12] to segment a simple object in a scale invariant manner, given a point anywhere inside that object. However, in [12], a strategy to select the point inside a simple object was not provided. In this paper, we propose a new system that automatically selects the points inside different simple objects in the scene, carries out the segmentation process for the selected points, and outputs only the regions corresponding to the simple objects in the scene. The proposed attention mechanism for the segmentation problem utilizes, for the first time, the concept of border ownership [17].



    AUTHOR    = {Ajay Mishra AND Yiannis Aloimonos}, 
    TITLE     = {Visual Segmentation of Simple Objects for Robots}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2011}, 
    ADDRESS   = {Los Angeles, CA, USA}, 
    MONTH     = {June},
    DOI       = {10.15607/RSS.2011.VII.030}