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We study the problem of 3D object detection from RGB-D images so as to achieve localization (i.e., producing a bounding box around the object) and classification (i.e., determining the object category) simultaneously. Its challenges arise from high intra-class variability, illumination change, background clutter and occlusion. To solve this problem, we propose a novel solution that integrates the 2D information (RGB images), the 3D information (RGB-D images) and the object/scene context information together, and call it the Context-Assisted 3D (C3D) method. In the proposed C3D method, we first use a convolutional neural network (CNN) to jointly detect a 3D object in a scene and its scene category. Then, we improve the detection result furthermore with a Conditional Random Field (CRF) model that incorporates the object potential, the scene potential, the scene/object context, the object/object context, and the room geometry. Extensive experiments are conducted to demonstrate that the proposed C3D method achieves the state-of-the-art performance for 3D object detection against the SUN RGB-D benchmark dataset. [ABSTRACT FROM AUTHOR]

An approach that extracts global attributes from outdoor images to facilitate geometric layout labeling is investigated in this work. The proposed Global-attributes Assisted Labeling (GAL) system exploits both local features and global attributes. First, by following a classical method, we use local features to provide initial labels for all super-pixels. Then, we develop a set of techniques to extract global attributes from 2D outdoor images. They include sky lines, ground lines, vanishing lines, etc. Finally, we propose the GAL system that integrates global attributes in the conditional random field (CRF) framework to improve initial labels so as to offer a more robust labeling result. The performance of the proposed GAL system is demonstrated and benchmarked with several state-of-the-art algorithms against a popular outdoor scene layout dataset. [ABSTRACT FROM AUTHOR]