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Mathematical Problems in Engineering
Volume 2014 (2014), Article ID 902039, 11 pages
Research Article

Using Ignorance in 3D Scene Understanding

Faculty of Mechatronics, Warsaw University of Technology, Ulica św. Andrzeja Boboli 8, 02-525 Warsaw, Poland

Received 7 March 2014; Revised 2 June 2014; Accepted 16 June 2014; Published 7 July 2014

Academic Editor: Dongbing Gu

Copyright © 2014 Bogdan Harasymowicz-Boggio and Barbara Siemiątkowska. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Awareness of its own limitations is a fundamental feature of the human sight, which has been almost completely omitted in computer vision systems. In this paper we present a method of explicitly using information about perceptual limitations of a 3D vision system, such as occluded areas, limited field of view, loss of precision along with distance increase, and imperfect segmentation for a better understanding of the observed scene. The proposed mechanism integrates metric and semantic inference using Dempster-Shafer theory, which makes it possible to handle observations that have different degrees and kinds of uncertainty. The system has been implemented and tested in a real indoor environment, showing the benefits of the proposed approach.