Abstract. In this paper we study the problem of object detection for RGB-D images using semantically rich image and depth features. We propose a new geocentric embedding for depth images that encodes height above ground and angle with gravity for each pixel in addition to the horizontal disparity. We demonstrate that this geocentric embedding works better than using raw depth images for learning feature representations with convolutional neural networks. Our final object detection system achieves an average precision of 37.3%, which is a 56% relative improvement over existing methods. We then focus on the task of instance segmentation where we label pixels belonging to object instances found by our detector. For this task, we propose a decision forest approach that classifies pixels in the detection window as foreground or background using a family of unary and binary tests that query shape and geocentric pose features. Finally, we use the output from our object detectors in an existing superpixel classification framework for semantic scene segmentation and achieve a 24% relative improvement over current state-of-the-art for the object categories that we study. We believe advances such as those represented in this paper will facilitate the use of perception in fields like robotics.

This paper presents a novel approach for automatically generating image descriptions: visual detectors, language models, and multimodal similarity models learnt directly from a dataset of image captions. We use multiple instance learning to train visual detectors for words that commonly occur in captions, including many different parts of speech such as nouns, verbs, and adjectives. The word detector outputs serve as conditional inputs to a maximum-entropy language model. The language model learns from a set of over 400,000 image descriptions to capture the statistics of word usage. We capture global semantics by re-ranking caption candidates using sentence-level features and a deep multimodal similarity model. Our system is state-of-the-art on the official Microsoft COCO benchmark, producing a BLEU-4 score of 29.1%. When human judges compare the system captions to ones written by other people on our heldout test set, the system captions have equal or better quality 34% of the time.

We address the problems of contour detection, bottomup grouping and semantic segmentation using RGB-D data. We focus on the challenging setting of cluttered indoor scenes, and evaluate our approach on the recently introduced NYU-Depth V2 (NYUD2) dataset [27]. We propose algorithms for object boundary detection and hierarchical segmentation that generalize the gP b − ucm approach of [2] by making effective use of depth information. We show that our system can label each contour with its type (depth, normal or albedo). We also propose a generic method for long-range amodal completion of surfaces and show its effectiveness in grouping. We then turn to the problem of semantic segmentation and propose a simple approach that classifies superpixels into the 40 dominant object categories in NYUD2. We use both generic and class-specific features to encode the appearance and geometry of objects. We also show how our approach can be used for scene classification, and how this contextual information in turn improves object recognition. In all of these tasks, we report significant improvements over the state-of-the-art.

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