Object classification using dictionary learning and RGB-D covariance descriptors

William J. Beksi; Nikolaos Papanikolopoulos

ICRA 2015poster33 citations

Object classification using dictionary learning and RGB-D covariance descriptors

William J. Beksi, Nikolaos Papanikolopoulos

Abstract

In this paper, we introduce a dictionary learning framework using RGB-D covariance descriptors on point cloud data for performing object classification. Dictionary learning in combination with RGB-D covariance descriptors provides a compact and flexible description of point cloud data. Furthermore, the proposed framework is ideal for updating and sharing dictionaries among robots in a decentralized or cloud network. This work demonstrates the increased performance of 3D object classification utilizing covariance descriptors and dictionary learning over previous results with experiments performed on a publicly available RGB-D database.

BibTeX

@inproceedings{icra2015_objectclassifica,
  title = {Object classification using dictionary learning and RGB-D covariance descriptors},
  author = {William J. Beksi and Nikolaos Papanikolopoulos},
  booktitle = {ICRA 2015},
  year = {2015}
}