Surface reconstruction from unorganized points
SIGGRAPH '92 Proceedings of the 19th annual conference on Computer graphics and interactive techniques
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Journal of Computer and System Sciences - Special issue: 26th annual ACM symposium on the theory of computing & STOC'94, May 23–25, 1994, and second annual Europe an conference on computational learning theory (EuroCOLT'95), March 13–15, 1995
Fast Approximate Energy Minimization via Graph Cuts
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Taxonomy and Evaluation of Dense Two-Frame Stereo Correspondence Algorithms
International Journal of Computer Vision
Segmentation of a Piece-Wise Planar Scene from Perspective Images
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Geometric Context from a Single Image
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IEEE Transactions on Pattern Analysis and Machine Intelligence
Image Based Localization in Urban Environments
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Analysis of Building Textures for Reconstructing Partially Occluded Facades
ECCV '08 Proceedings of the 10th European Conference on Computer Vision: Part I
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Human Upper Body Pose Recognition Using Adaboost Template for Natural Human Robot Interaction
CRV '10 Proceedings of the 2010 Canadian Conference on Computer and Robot Vision
Disparity statistics for pedestrian detection: combining appearance, motion and stereo
ECCV'10 Proceedings of the 11th European conference on Computer vision: Part VI
A Fast Approach for Pixelwise Labeling of Facade Images
ICPR '10 Proceedings of the 2010 20th International Conference on Pattern Recognition
Unsupervised facade segmentation using repetitive patterns
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Window detection from mobile LiDAR data
WACV '11 Proceedings of the 2011 IEEE Workshop on Applications of Computer Vision (WACV)
Façade Segmentation in a Multi-view Scenario
3DIMPVT '11 Proceedings of the 2011 International Conference on 3D Imaging, Modeling, Processing, Visualization and Transmission
Real-time human pose recognition in parts from single depth images
CVPR '11 Proceedings of the 2011 IEEE Conference on Computer Vision and Pattern Recognition
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IEEE Transactions on Robotics
Manhattan scene understanding using monocular, stereo, and 3D features
ICCV '11 Proceedings of the 2011 International Conference on Computer Vision
ACCV'12 Proceedings of the 11th Asian conference on Computer Vision - Volume Part I
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Building facade detection is an important problem in computer vision, with applications in mobile robotics and semantic scene understanding. In particular, mobile platform localization and guidance in urban environments can be enabled with accurate models of the various building facades in a scene. Toward that end, we present a system for detection, segmentation, and parameter estimation of building facades in stereo imagery. The proposed method incorporates multilevel appearance and disparity features in a binary discriminative model, and generates a set of candidate planes by sampling and clustering points from the image with Random Sample Consensus (RANSAC), using local normal estimates derived from Principal Component Analysis (PCA) to inform the planar models. These two models are incorporated into a two-layer Markov Random Field (MRF): an appearance- and disparity-based discriminative classifier at the mid-level, and a geometric model to segment the building pixels into facades at the high-level. By using object-specific stereo features, our discriminative classifier is able to achieve substantially higher accuracy than standard boosting or modeling with only appearance-based features. Furthermore, the results of our MRF classification indicate a strong improvement in accuracy for the binary building detection problem and the labeled planar surface models provide a good approximation to the ground truth planes.