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A Multi-modal, discriminative and spatially invariant CNN for RGB-D object labeling

Asif, U., Bennamoun, M. and Sohel, F. (2017) A Multi-modal, discriminative and spatially invariant CNN for RGB-D object labeling. IEEE Transactions on Pattern Analysis and Machine Intelligence, 40 (9). pp. 2051-2065.

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While deep convolutional neural networks have shown a remarkable success in image classification, the problems of inter-class similarities, intra-class variances, the effective combination of multimodal data, and the spatial variability in images of objects remain to be major challenges. To address these problems, this paper proposes a novel framework to learn a discriminative and spatially invariant classification model for object and indoor scene recognition using multimodal RGB-D imagery. This is achieved through three postulates: 1) spatial invariance - this is achieved by combining a spatial transformer network with a deep convolutional neural network to learn features which are invariant to spatial translations, rotations, and scale changes, 2) high discriminative capability - this is achieved by introducing Fisher encoding within the CNN architecture to learn features which have small inter-class similarities and large intra-class compactness, and 3) multimodal hierarchical fusion - this is achieved through the regularization of semantic segmentation to a multi-modal CNN architecture, where class probabilities are estimated at different hierarchical levels (i.e., imageand pixel-levels), and fused into a Conditional Random Field (CRF)- based inference hypothesis, the optimization of which produces consistent class labels in RGB-D images. Extensive experimental evaluations on RGB-D object and scene datasets, and live video streams (acquired from Kinect) show that our framework produces superior object and scene classification results compared to the state-of-the-art methods.

Item Type: Journal Article
Murdoch Affiliation: School of Engineering and Information Technology
Publisher: IEEE
Copyright: © 2017 IEEE
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