Object classification using dictionary learning and RGB-D covariance descriptors

William J. Beksi, Nikolaos P Papanikolopoulos

Research output: Contribution to journalArticlepeer-review

15 Scopus citations


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 languageEnglish (US)
Article number7139443
Pages (from-to)1880-1885
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Issue numberJune
StatePublished - Jan 1 2015

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