1. A computer-implemented method for identifying an object in an image, comprising: segmenting a first image of an object into one or more superpixels; extracting local descriptors from the first image, each of the descriptors having an interest point with a location; correlating the local descriptors to the superpixels based on locations of the local descriptors and superpixels; determining a probability for an object label for each of a set of the superpixels using the correlated local descriptors; and assigning an object label to each of the set of the superpixels based on the probability and a smoothness factor, the smoothness factor being weighted by an angular distance between superpixels.