This paper proposes a joint color and depth segmentation scheme exploiting together geometrical clues and a learning stage. The approach starts from an initial over-segmentation based on spectral clustering. The input data is also fed to a Convolutional Neural Network (CNN) thus producing a per-pixel descriptor vector for each scene sample. An iterative merging procedure is then used to recombine the segments into the regions corresponding to the various objects and surfaces. The proposed algorithm starts by considering all the adjacent segments and computing a similarity metric according to the CNN features. The couples of segments with higher similarity are considered for merging. Finally the algorithm uses a NURBS surface fitting scheme on the segments in order to understand if the selected couples correspond to a single surface. The comparison with state-of-the-art methods shows how the proposed method provides an accurate and reliable scene segmentation.
展开▼
