Bing¶

What is this?¶

../../_images/bing.png

Compute objectness in a image frame, and publishes object proposals.

Note

This node is supported only when OpenCV3 is installed.

Subscribing Topic¶

~input (sensor_msgs/Image)

Raw image.

Publishing Topic¶

~output (jsk_recognition_msgs/RectArray)

Object proposals.
~output/objectness (sensor_msgs/Image, encoding: 32FC1)

Float image which describes objectness.

Parameters¶

~score_threshold (Double, default: 0.0)

Score threshold for objecness values. Max value is 1.0.
~max_num (Int, default: -1.0)

Maximum number of returning bounding boxes. -1.0 means returning all bounding boxes.

Sample¶

roslaunch jsk_perception bing.test

Reference¶

@inproceedings{BingObj2014,
  title={{BING}: Binarized Normed Gradients for Objectness Estimation at 300fps},
  author={Ming-Ming Cheng and Ziming Zhang and Wen-Yan Lin and Philip H. S. Torr},
  booktitle={IEEE CVPR},
  year={2014},
}