Semantic annotations are vital for training models for object recognition, semantic segmentation or scene understanding. Unfortunately, pixelwise annotation of images at very large scale is labor-intensive and only little labeled data is available, particularly at instance level and for street scenes. In this paper, we propose to tackle this problem by lifting the semantic instance labeling task from 2D into 3D. Given reconstructions from stereo or laser data, we annotate static 3D scene elements with rough bounding primitives and develop a model which transfers this information into the image domain. We leverage our method to obtain 2D labels for a novel suburban video dataset which we have collected, resulting in 400k semantic and instance image annotations. A comparison of our method to state-ofthe-art label transfer baselines reveals that 3D information enables more efficient annotation while at the same time resulting in improved accuracy and time-coherent labels.

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Abstract-Tracking-based approaches for abandoned object detection often become unreliable in complex surveillance videos due to occlusions, lighting changes, and other factors. We present a new framework to robustly and efficiently detect abandoned and removed objects based on background subtraction and foreground analysis with complement of tracking to reduce false positives. In our system, the background is modeled by three Gaussian mixtures. In order to handle complex situations, several improvements are implemented for shadow removal, quick lighting change adaptation, fragment reduction, and keeping a stable update rate for video streams with different frame rates. Then, the same Gaussian mixture models used for background subtraction are employed to detect static foreground regions without extra computation cost. Furthermore, the types of the static regions (abandoned or removed) are determined by using a method that exploits context information about the foreground masks, which significantly outperforms previous edge-based techniques. Based on the type of the static regions and userdefined parameters (e.g., object size and abandoned time), a matching method is proposed to detect abandoned and removed objects. A person-detection process is also integrated to distinguish static objects from stationary people. The robustness and efficiency of the proposed method is tested on IBM Smart Surveillance Solutions for public safety applications in big cities and evaluated by several public databases such as i-Lids and PETS2006 datasets. The test and evaluation demonstrate our method is efficient to run in real-time while being robust to quick lighting changes and occlusions in complex environments.

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Recently, consumer depth cameras have gained significant popularity due to their affordable cost. However, the limited resolution and the quality of the depth map generated by these cameras are still problematic for several applications. In this paper, a novel framework for the single depth image superresolution is proposed. In our framework, the upscaling of a single depth image is guided by a high-resolution edge map, which is constructed from the edges of the low-resolution depth image through a Markov random field optimization in a patch synthesis based manner. We also explore the self-similarity of patches during the edge construction stage, when limited training data are available. With the guidance of the high-resolution edge map, we propose upsampling the high-resolution depth image through a modified joint bilateral filter. The edge-based guidance not only helps avoiding artifacts introduced by direct texture prediction, but also reduces jagged artifacts and preserves the sharp edges. Experimental results demonstrate the effectiveness of our method both qualitatively and quantitatively compared with the state-of-the-art methods.

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