Object discovery in 3D scenes via shape analysis

  title={Object discovery in 3D scenes via shape analysis},
  author={Andrej Karpathy and Stephen D. Miller and Li Fei-Fei},
  journal={2013 IEEE International Conference on Robotics and Automation},
We present a method for discovering object models from 3D meshes of indoor environments. Our algorithm first decomposes the scene into a set of candidate mesh segments and then ranks each segment according to its “objectness” - a quality that distinguishes objects from clutter. To do so, we propose five intrinsic shape measures: compactness, symmetry, smoothness, and local and global convexity. We additionally propose a recurrence measure, codifying the intuition that frequently occurring… CONTINUE READING
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