• Corpus ID: 15341921

Voxelized Shape and Color Histograms for RGB-D

  title={Voxelized Shape and Color Histograms for RGB-D},
  author={Asako Kanezaki and Zolt{\'a}n-Csaba M{\'a}rton and Dejan Pangercic and Tatsuya Harada and Yasuo Kuniyoshi and Michael Beetz},
  booktitle={IROS 2011},
Real world environments typically include objects with different perceptual appearances. A household, for example, includes textured, textureless and even partially transparent objects. While perception methods exist that work well on one such class of objects at a time, the perception of various classes of objects in a scene is still a challenge. It is our view that the construction of a descriptor that takes both color and shape into account, thereby fostering high discriminating power, will… 

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