Depth-Encoded Hough Voting for Joint Object Detection and Shape Recovery

Abstract

AbstractDetecting objects, estimating their pose and recovering 3D shape information are critical problems in many vision and robotics applications. This paper addresses the above needs by proposing a new method called DEHV - Depth-Encoded Hough Voting detection scheme. Inspired by the Hough voting scheme introduced in [13], DEHV incorporates depth information into the process of learning distributions of image features (patches) representing an object category. DEHV takes advantage of the interplay between the scale of each object patch in the image and its distance (depth) from the corresponding physical patch attached to the 3D object. DEHV jointly detects objects, infers their categories, estimates their pose, and infers/decodes objects depth maps from either a single image (when no depth maps are available in testing) or a single image augmented with depth map (when this is available in testing). Extensive quantitative and qualitative experimental analysis on existing datasets [6,9,22] and a newly proposed 3D table-top object category dataset shows that our DEHV scheme obtains competitive detection and pose estimation results as well as convincing 3D shape reconstruction from just one single uncalibrated image. Finally, we demonstrate that our technique can be successfully employed as a key building block in two application scenarios (highly accurate 6 degrees of freedom (6 DOF) pose estimation and 3D object modeling).KeywordsImage PatchObject InstancePascal VOC07Object HypothesisObject DepthThese keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.