Segmentation and semantic labelling of RGBD data with convolutional neural networks and surface fitting

We present an approach for segmentation and semantic labelling of RGBD data exploiting together geometrical cues and deep learning techniques. An initial over-segmentation is performed using spectral clustering and a set of non-uniform rational B-spline surfaces is fitted on the extracted segments. Then a convolutional neural network (CNN) receives in input colour and geometry data together with surface fitting parameters. The network is made of nine convolutional stages followed by a softmax classifier and produces a vector of descriptors for each sample. In the next step, an iterative merging algorithm recombines the output of the over-segmentation into larger regions matching the various elements of the scene. The couples of adjacent segments with higher similarity according to the CNN features are candidate to be merged and the surface fitting accuracy is used to detect which couples of segments belong to the same surface. Finally, a set of labelled segments is obtained by combining the segmentation output with the descriptors from the CNN. Experimental results show how the proposed approach outperforms state-of-the-art methods and provides an accurate segmentation and labelling

Shape matching and clustering in design

Generalising knowledge and matching patterns is a basic human trait in re-using past experiences. We often cluster (group) knowledge of similar attributes as a process of learning and or aid to manage the complexity and re-use of experiential knowledge [1, 2]. In conceptual design, an ill-defined shape may be recognised as more than one type. Resulting in shapes possibly being classified differently when different criteria are applied. This paper outlines the work being carried out to develop a new technique for shape clustering. It highlights the current methods for analysing shapes found in computer aided sketching systems, before a method is proposed that addresses shape clustering and pattern matching. Clustering for vague geometric models and multiple viewpoint support are explored

Shape matching and clustering

Generalising knowledge and matching patterns is a basic human trait in re-using past experiences. We often cluster (group) knowledge of similar attributes as a process of learning and or aid to manage the complexity and re-use of experiential knowledge [1, 2]. In conceptual design, an ill-defined shape may be recognised as more than one type. Resulting in shapes possibly being classified differently when different criteria are applied. This paper outlines the work being carried out to develop a new technique for shape clustering. It highlights the current methods for analysing shapes found in computer aided sketching systems, before a method is proposed that addresses shape clustering and pattern matching. Clustering for vague geometric models and multiple viewpoint support are explored