| Title | Detection-based Object Labeling in 3D Scenes |
| Publication Type | Conference Paper |
| Year of Publication | 2012 |
| Authors | Lai K, Bo L, Ren X, Fox D |
| Conference Name | ICRA |
| Abstract | <p>We propose a view-based approach for labeling objects in 3D scenes reconstructed from RGB-D (color+depth) videos. We utilize sliding window detectors trained from object views to assign class probabilities to pixels in every RGB-D frame. These probabilities are projected into the reconstructed 3D scene and integrated using a voxel representation. We perform efficient inference on a Markov Random Field over the voxels, combining cues from view-based detection and 3D shape, to label the scene. Our detection-based approach produces accurate scene labeling on the RGB-D Scenes Dataset and improves the robustness of object detection.</p> |
| Downloads | http://www.cs.washington.edu/ai/Mobile_Robotics/postscripts/3dobject-lab... PDF |
| Citation Key | Lai12Det |
