A Hierarchical Approach for Joint Multi-view Object Pose Estimation and Categorization

TL;DR

This paper introduces a hierarchical method combining object pose estimation and categorization by leveraging multi-layer part representations, outperforming existing algorithms on benchmark datasets.

Contribution

It presents a novel joint approach that integrates features from multiple hierarchy layers for simultaneous object pose estimation and categorization.

Findings

Outperforms state-of-the-art algorithms on benchmark datasets.

Demonstrates the effectiveness of multi-layer feature integration.

Provides insights into the relationship between parts, pose, and categories.

Abstract

We propose a joint object pose estimation and categorization approach which extracts information about object poses and categories from the object parts and compositions constructed at different layers of a hierarchical object representation algorithm, namely Learned Hierarchy of Parts (LHOP). In the proposed approach, we first employ the LHOP to learn hierarchical part libraries which represent entity parts and compositions across different object categories and views. Then, we extract statistical and geometric features from the part realizations of the objects in the images in order to represent the information about object pose and category at each different layer of the hierarchy. Unlike the traditional approaches which consider specific layers of the hierarchies in order to extract information to perform specific tasks, we combine the information extracted at different layers to solve a joint object pose estimation and categorization problem using distributed optimization algorithms. We examine the proposed generative-discriminative learning approach and the algorithms on two benchmark 2-D multi-view image datasets. The proposed approach and the algorithms outperform state-of-the-art classification, regression and feature extraction algorithms. In addition, the experimental results shed light on the relationship between object categorization, pose estimation and the part realizations observed at different layers of the hierarchy.