Method

Mixture of Bag-of-Words [la] [mBoW]


Submitted on 24 Jul. 2017 13:26 by
David Stutz (Max Planck Institute for Intelligent Systems)

Running time:10 s
Environment:1 core @ 2.5 Ghz (C/C++)

Method Description:
A segment-based object detection approach using
laser range data only. Our detection approach is
built up of three stages: First, a hierarchical
segmentation approach generates a hierarchy of
coarse-to-fine segments to reduce the impact of
over- and under-segmentation in later stages. Next,
we employ a learned distance-dependent mixture
model to classify all segments. The model combines
multiple softmax regression classifiers learned on
specific bag-of-word representations using
different parameterizations of a descriptor. In the
final stage, we filter irrelevant and duplicate
detections using a greedy method in consideration
of the segment hierarchy.

Originally submitted by Jens Behley (University of
Bonn).
Parameters:
See paper.
Latex Bibtex:
@inproceedings{Behley2013IROS,
author = {Jens Behley and Volker Steinhage and
Armin B. Cremers},
title = {{Laser-based Segment Classification Using
a Mixture of Bag-of-Words}},
booktitle = {Proc. of the IEEE/RSJ International
Conference on Intelligent Robots and Systems
(IROS)},
year = {2013}}

Detailed Results

Object detection and orientation estimation results. Results for object detection are given in terms of average precision (AP) and results for joint object detection and orientation estimation are provided in terms of average orientation similarity (AOS).


Benchmark Easy Moderate Hard
Car (3D Detection) 0.00 % 0.00 % 0.00 %
Car (Bird's Eye View) 0.00 % 0.00 % 0.00 %
Pedestrian (3D Detection) 0.00 % 0.00 % 0.00 %
Pedestrian (Bird's Eye View) 0.01 % 0.01 % 0.01 %
Cyclist (3D Detection) 0.00 % 0.00 % 0.00 %
Cyclist (Bird's Eye View) 0.00 % 0.00 % 0.00 %
This table as LaTeX


3D object detection results.
This figure as: png eps pdf txt gnuplot



Bird's eye view results.
This figure as: png eps pdf txt gnuplot



3D object detection results.
This figure as: png eps pdf txt gnuplot



Bird's eye view results.
This figure as: png eps pdf txt gnuplot



3D object detection results.
This figure as: png eps pdf txt gnuplot



Bird's eye view results.
This figure as: png eps pdf txt gnuplot




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