System and method for generating a classifier for semantically segmenting an image
First Claim
1. A method for generating a classifier configured to automatically label segments of an image, wherein the classifier comprises a first sub-classifier and a second sub-classifier, the method comprising:
- training a first sub-classifier based on photographic data for a labeled set of image segments and a second sub-classifier based on 3-dimensional (3D) point data for the labeled set of image segments, wherein each of the labeled image segments can be a portion of a larger image partitioned into a plurality of the image segments based on similarity of pixels within the segment and differences with pixels which are outside a boundary of the segment;
automatically creating, based on the training, a labeling solution for an unlabeled, second set of image segments by running the first sub-classifier on the second set of image segments and running the second sub-classifier on the second set of image segments, wherein the labeling solution comprises a plurality of associations, each association of the plurality of associations linking an image segment from the set of unlabeled image segments with a label;
updating the labeled set of image segments based on the labeling solution, including adding an image segment of the second segments to the labeled set of image segments together with a label having at least one of the associations with the added segment; and
retraining the first sub-classifier and the second sub-classifier based on the updated labeled set of image segments.
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Abstract
Systems, methods, and machine-readable media for generating a classifier configured to label segments of an image, are discussed. According to one aspect, the system may include a training module, a labeling module, and an update module. The training module may be configured to train a first sub-classifier based on photographic data for a set of pre-labeled image segments and a second sub-classifier based on 3-dimensional point data for the set of pre-labeled image segments. The labeling module may be configured to generate a labeling solution comprising a plurality of associations between an image segment from the set of unlabeled image segments and a label. The update module may be configured to update the set of pre-labeled image segments based on the labeling solution. The training module may also be configured to train the first sub-classifier and the second sub-classifier based on the updated set of pre-labeled image segments.
63 Citations
17 Claims
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1. A method for generating a classifier configured to automatically label segments of an image, wherein the classifier comprises a first sub-classifier and a second sub-classifier, the method comprising:
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training a first sub-classifier based on photographic data for a labeled set of image segments and a second sub-classifier based on 3-dimensional (3D) point data for the labeled set of image segments, wherein each of the labeled image segments can be a portion of a larger image partitioned into a plurality of the image segments based on similarity of pixels within the segment and differences with pixels which are outside a boundary of the segment; automatically creating, based on the training, a labeling solution for an unlabeled, second set of image segments by running the first sub-classifier on the second set of image segments and running the second sub-classifier on the second set of image segments, wherein the labeling solution comprises a plurality of associations, each association of the plurality of associations linking an image segment from the set of unlabeled image segments with a label; updating the labeled set of image segments based on the labeling solution, including adding an image segment of the second segments to the labeled set of image segments together with a label having at least one of the associations with the added segment; and retraining the first sub-classifier and the second sub-classifier based on the updated labeled set of image segments. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A system for generating a classifier configured to label segments of an image, wherein the classifier comprises a first sub-classifier and a second sub-classifier, the system comprising:
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at least one processor; and a plurality of modules, each module including at least one of;
a hardware component, or a plurality of instructions executable by the at least one processor, the modules including;a training module configured to train a first sub-classifier based on photographic data for a set of pre-labeled image segments and a second sub-classifier based on 3-dimensional (3D) point data for the set of pre-labeled image segments, wherein each of the pre-labeled image segments can be a portion of a larger image partitioned into a plurality of the pre-labeled image segments based on similarity of pixels within the segment and differences with pixels which are outside a boundary of the segment; a labeling module configured to generate a labeling solution comprising a plurality of associations between each of a plurality of image segments from a set of unlabeled image segments and a corresponding label of a plurality of labels, wherein the labeling solution is generated by running the first sub-classifier on the set of unlabeled image segments and running the second sub-classifier on the set of unlabeled image segments; and an update module configured to update the set of pre-labeled image segments based on the labeling solution generated by the first sub-classifier and the second sub-classifier wherein the update includes adding an image segment of the unlabeled image segments to the pre-labeled image segments together with a label having at least one of the associations with the added segment wherein the training module is further configured to retrain the first sub-classifier and the second sub-classifier based on the updated set of pre-labeled image segments. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A non-transitory machine-readable medium comprising instructions stored therein, which when executed by a machine, cause the machine to perform operations comprising:
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training a first sub-classifier based on photographic data for a set of pre-labeled image segments and a second sub-classifier based on 3-dimensional (3D) point data for the set of pre-labeled image segments, wherein each of the pre-labeled image segments can be a portion of a larger image partitioned into a plurality of the segments based on similarity of pixels within the segment and differences which are outside a boundary of the segment; and for at least one iteration; generating a labeling solution by running the first sub-classifier on a set of unlabeled image segments and running the second sub-classifier on the set of unlabeled image segments, wherein the running of the first sub-classifier on the set of unlabeled image segments is based on photographic data for the set of unlabeled image segments and wherein the running of the second sub-classifier on the set of unlabeled image segments is based on 3D point data for the set of unlabeled image segments, and wherein the labeling solution comprises a plurality of associations, each association of the plurality of associations linking an image segment from the set of unlabeled image segments with a label, and wherein each association is associated with a confidence value, updating the set of pre-labeled image segments based on the labeling solution generated by the first sub-classifier and the second sub-classifier, including adding an image segment of the unlabeled image segments to the pre-labeled image segments together with a label having at least one of the associations with the added segment, and training the first sub-classifier and the second sub-classifier based on the updated set of pre-labeled image segments. - View Dependent Claims (16, 17)
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Specification