Combining Appearance and Range Based Information for Multi-class Generic Object Recognition

摘要

The use of range images for generic object recognition is not addressed frequently by the computer vision community. This paper presents two main contributions. First, a new object category dataset of 2D and range images of different object classes is presented. Second, a new generic object recognition model from range and 2D images is proposed. The model is able to use either appearance (2D) or range based information or a combination of both of them for multi-class object learning and recognition. The recognition performance of the proposed recognition model is investigated experimentally using the new database and promising results are obtained. Moreover, the best performance gain by combining both appearance and range based information is 35% for single classes while the average gain over classes is 12%.