Fig. 4: Figure-Ground maps ground-truth generation.
From: Event-driven figure-ground organisation model for the humanoid robot iCub
Generation of ground-truth figure-ground maps from the BSDS dataset26. a a reference RGB image, b the edges indicating the outer bound of the foreground object (yellow) and the starting of the background (blue), and (c) the generated figure-ground map indicating the angle towards the object from each edge pixel.
