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Sensors 2015, 15(9), 21054-21074;

Saliency-Guided Detection of Unknown Objects in RGB-D Indoor Scenes

1,2,* , 2
Department of Hydraulic, Energy and Power Engineering, Yangzhou University, Yangzhou 225000, China
Department of Electrical and Computer Engineering, Michigan State University, East Lansing, MI 48824, USA
Author to whom correspondence should be addressed.
Academic Editors: Kourosh Khoshelham and Sisi Zlatanova
Received: 27 June 2015 / Revised: 19 August 2015 / Accepted: 21 August 2015 / Published: 27 August 2015
(This article belongs to the Special Issue Sensors for Indoor Mapping and Navigation)
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This paper studies the problem of detecting unknown objects within indoor environments in an active and natural manner. The visual saliency scheme utilizing both color and depth cues is proposed to arouse the interests of the machine system for detecting unknown objects at salient positions in a 3D scene. The 3D points at the salient positions are selected as seed points for generating object hypotheses using the 3D shape. We perform multi-class labeling on a Markov random field (MRF) over the voxels of the 3D scene, combining cues from object hypotheses and 3D shape. The results from MRF are further refined by merging the labeled objects, which are spatially connected and have high correlation between color histograms. Quantitative and qualitative evaluations on two benchmark RGB-D datasets illustrate the advantages of the proposed method. The experiments of object detection and manipulation performed on a mobile manipulator validate its effectiveness and practicability in robotic applications. View Full-Text
Keywords: unknown object detection; saliency detection; RGB-D object segmentation unknown object detection; saliency detection; RGB-D object segmentation

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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).

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Bao, J.; Jia, Y.; Cheng, Y.; Xi, N. Saliency-Guided Detection of Unknown Objects in RGB-D Indoor Scenes. Sensors 2015, 15, 21054-21074.

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