Simultaneous object segmentation and recognition by merging CNN outputs from uniformly distributed multiple viewpoints

Yoshikatsu Nakajima, Hideo Saito

Research output: Contribution to journalArticle

Abstract

We propose a novel object recognition system that is able to (i) work in real-time while reconstructing segmented 3D maps and simultaneously recognize objects in a scene, (ii) manage various kinds of objects, including those with smooth surfaces and those with a large number of categories, utilizing a CNN for feature extraction, and (iii) maintain high accuracy no matter how the camera moves by distributing the viewpoints for each object uniformly and aggregating recognition results from each distributed viewpoint as the same weight. Through experiments, the advantages of our system with respect to current state-of-the-art object recognition approaches are demonstrated on the UW RGB-D Dataset and Scenes and on our own scenes prepared to verify the effectiveness of the Viewpoint-Class-based approach.

Original languageEnglish
Pages (from-to)1308-1316
Number of pages9
JournalIEICE Transactions on Information and Systems
VolumeE101D
Issue number5
DOIs
Publication statusPublished - 2018 May 1

Keywords

  • Convolutional neural network
  • Object recognition
  • Segmentation
  • SLAM

ASJC Scopus subject areas

  • Software
  • Hardware and Architecture
  • Computer Vision and Pattern Recognition
  • Electrical and Electronic Engineering
  • Artificial Intelligence

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