RGB D multi view object detection with object proposals and shape context
We propose a novel approach for multi view object detection in 3D scenes reconstructed from RGB D sensor. We utilize shape based representation using local shape context descriptors along with the voting strategy which is supported by unsupervised object proposals generated from 3D point cloud data. Our algorithm starts with a single view object detection where object proposals generated in 3D space are combined with object specific hypotheses generated by the voting strategy. To tackle the multi view setting, the data association between multiple views enabled view registration and 3D object proposals. The evidence from multiple views is combined in simple bayesian setting. The approach is evaluated on the Washington RGB D scenes datasets [1] [2] containing several classes of objects in a table top setting. We evaluated our approach against the other state of the art methods and demonstrated superior performance on the same dataset.
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)