Edinburgh Research Explorer

Consistent Semantic Annotation of Outdoor Datasets via 2D/3D Label Transfer

Research output: Contribution to journalArticle

Related Edinburgh Organisations

Open Access permissions

Open

Documents

  • Download as Adobe PDF

    Final published version, 13 MB, PDF document

    Licence: Creative Commons: Attribution (CC-BY)

http://www.mdpi.com/1424-8220/18/7/2249
Original languageEnglish
Article number2249
Number of pages20
JournalSensors
Volume18
Issue number7
DOIs
Publication statusPublished - 12 Jul 2018

Abstract

The advance of scene understanding methods based on machine learning relies on the availability of large ground truth datasets, which are essential for their training and evaluation. Construction of such datasets with imagery from real sensor data however typically requires much manual annotation of semantic regions in the data, delivered by substantial human labour. To speed up this process, we propose a framework for semantic annotation of scenes captured by moving camera(s), e.g., mounted on a vehicle or robot. It makes use of an available 3D model of the traversed scene to project segmented 3D objects into each camera frame to obtain an initial annotation of the associated 2D image, which is followed by manual refinement by the user. The refined annotation can be transferred to the next consecutive frame using optical flow estimation. We have evaluated the efficiency of the proposed framework during the production of a labelled outdoor dataset. The analysis of annotation times shows that up to 43% less effort is required on average, and the consistency of the labelling is also improved.

Download statistics

No data available

ID: 66350691