Computing object-based saliency in urban scenes using laser sensing

  title={Computing object-based saliency in urban scenes using laser sensing},
  author={Yipu Zhao and Mengwen He and Huijing Zhao and Franck Davoine and Hongbin Zha},
  journal={2012 IEEE International Conference on Robotics and Automation},
It becomes a well-known technology that a low-level map of complex environment containing 3D laser points can be generated using a robot with laser scanners. Given a cloud of 3D laser points of an urban scene, this paper proposes a method for locating the objects of interest, e.g. traffic signs or road lamps, by computing object-based saliency. Our major contributions are: 1) a method for extracting simple geometric features from laser data is developed, where both range images and 3D laser… CONTINUE READING


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