Complex-Valued Representation for RGB-D Object Recognition

Object recognition methods usually tend to focus on single cues coming from traditional vision based systems but ignore to incorporate multi-modal data. With the advent of depth RGB-D sensors which provide synchronized multi-modal data with good quality, new opportunities have been emerged. In this paper, we make use of RGB and depth images to propose a new object recognition approach. Using a pixel-wise scheme, we propose a novel method to describe RGB-D images with a complex-valued representation. By means of neural network, we introduce a new CVNN (Complex-Valued Neural Network) with RBF neurons. Different from many RGB-D features, the proposed approach is able to jointly use RGB and depth data within a unified end-to-end learning framework. Category and instance object recognition tasks are evaluated through experiments carried out on a large scale RGB-D object dataset. Results show that our method can efficiently recognize objects in RGB-D images and outperforms state-of-the-art a...