Object classification using dictionary learning and RGB-D covariance descriptors

William J. Beksi; Nikolaos P Papanikolopoulos

doi:10.1109/ICRA.2015.7139443

Object classification using dictionary learning and RGB-D covariance descriptors

William J. Beksi, Nikolaos P Papanikolopoulos

Computer Science and Engineering

Research output: Contribution to journal › Article

12 Citations (Scopus)

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.

Original language	English (US)
Article number	7139443
Pages (from-to)	1880-1885
Number of pages	6
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2015-June
Issue number	June
DOIs	https://doi.org/10.1109/ICRA.2015.7139443
State	Published - Jan 1 2015

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Beksi, W. J., & Papanikolopoulos, N. P. (2015). Object classification using dictionary learning and RGB-D covariance descriptors. Proceedings - IEEE International Conference on Robotics and Automation, 2015-June(June), 1880-1885. [7139443]. https://doi.org/10.1109/ICRA.2015.7139443

Object classification using dictionary learning and RGB-D covariance descriptors. / Beksi, William J.; Papanikolopoulos, Nikolaos P.

In: Proceedings - IEEE International Conference on Robotics and Automation, Vol. 2015-June, No. June, 7139443, 01.01.2015, p. 1880-1885.

Research output: Contribution to journal › Article

Beksi, WJ & Papanikolopoulos, NP 2015, 'Object classification using dictionary learning and RGB-D covariance descriptors', Proceedings - IEEE International Conference on Robotics and Automation, vol. 2015-June, no. June, 7139443, pp. 1880-1885. https://doi.org/10.1109/ICRA.2015.7139443

Beksi WJ, Papanikolopoulos NP. Object classification using dictionary learning and RGB-D covariance descriptors. Proceedings - IEEE International Conference on Robotics and Automation. 2015 Jan 1;2015-June(June):1880-1885. 7139443. https://doi.org/10.1109/ICRA.2015.7139443

Beksi, William J. ; Papanikolopoulos, Nikolaos P. / Object classification using dictionary learning and RGB-D covariance descriptors. In: Proceedings - IEEE International Conference on Robotics and Automation. 2015 ; Vol. 2015-June, No. June. pp. 1880-1885.

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Access to Document

10.1109/ICRA.2015.7139443