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Object Detection via Receptive Field Co-occurrence and Spatial Cloud-Point Data

Luis Contreras Toledo, Abel Pacheco-Ortega, Jose I. Figueroa, Walterio Mayol-Cuevas, Jesus Savage, Object Detection via Receptive Field Co-occurrence and Spatial Cloud-Point Data. ICAR conference. November 2013. No electronic version available.

Abstract

The use of image and spatial information together in mobile robots systems is a promising field, due to the enhanced level of discrimination and efficiency that can be gained. In this paper we employ an RGB-D camera for object detection and clustering and develop methods that combine the two strands of information: first we cluster potential objects by means of their spatial position and then link geometry and co-occurrence histograms to enable reliable object detection. Experiments and design parameters are presented for example scenarios of object detection under clutter.

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