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Modality-specific and hierarchical feature learning for RGB-D hand-held object recognition

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Abstract

Hand-held object recognition is an important research topic in image understanding and plays an essential role in human-machine interaction. With the easily available RGB-D devices, the depth information greatly promotes the performance of object segmentation and provides additional channel information. While how to extract a representative and discriminating feature from object region and efficiently take advantage of the depth information plays an important role in improving hand-held object recognition accuracy and eventual human-machine interaction experience. In this paper, we focus on a special but important area called RGB-D hand-held object recognition and propose a hierarchical feature learning framework for this task. First, our framework learns modality-specific features from RGB and depth images using CNN architectures with different network depth and learning strategies. Secondly a high-level feature learning network is implemented for a comprehensive feature representation. Different with previous works on feature learning and representation, the hierarchical learning method can sufficiently dig out the characteristics of different modal information and efficiently fuse them in a unified framework. The experimental results on HOD dataset illustrate the effectiveness of our proposed method.

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Acknowledgments

This work was supported in part by the National Basic Research 973 Program of China under Grant No. 2012CB316400, the National Natural Science Foundation of China under Grant Nos. 61532018, and 61322212 the National High Technology Research and Development 863 Program of China under Grant No. 2014AA015202. This work is also funded by Lenovo Outstanding Young Scientists Program (LOYS).

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Authors and Affiliations

  1. Key Laboratory of Intelligent Information Processing, Institute of Computing Technology, Chinese Academy of Sciences, Beijing, 100190, China

    Xiong Lv, Xiangyang Li, Xue Li & Shuqiang Jiang

  2. School of Mathematics and Computer Science, Ningxia University, Ningxia, 750021, China

    Xinda Liu

  3. College of Information Science and Engineering, Shandong University of Science and Technology, Qingdao, Shandong Province, China

    Xue Li

  4. Lenovo Corporate Research, Beijing, 100085, China

    Zhiqiang He

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  1. Xiong Lv
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Correspondence to Zhiqiang He.

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Lv, X., Liu, X., Li, X. et al. Modality-specific and hierarchical feature learning for RGB-D hand-held object recognition. Multimed Tools Appl 76, 4273–4290 (2017). https://doi.org/10.1007/s11042-016-3375-5

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  • DOI: https://doi.org/10.1007/s11042-016-3375-5

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