1 research outputs found
Cross-Modal Attentional Context Learning for RGB-D Object Detection
Recognizing objects from simultaneously sensed photometric (RGB) and depth
channels is a fundamental yet practical problem in many machine vision
applications such as robot grasping and autonomous driving. In this paper, we
address this problem by developing a Cross-Modal Attentional Context (CMAC)
learning framework, which enables the full exploitation of the context
information from both RGB and depth data. Compared to existing RGB-D object
detection frameworks, our approach has several appealing properties. First, it
consists of an attention-based global context model for exploiting adaptive
contextual information and incorporating this information into a region-based
CNN (e.g., Fast RCNN) framework to achieve improved object detection
performance. Second, our CMAC framework further contains a fine-grained object
part attention module to harness multiple discriminative object parts inside
each possible object region for superior local feature representation. While
greatly improving the accuracy of RGB-D object detection, the effective
cross-modal information fusion as well as attentional context modeling in our
proposed model provide an interpretable visualization scheme. Experimental
results demonstrate that the proposed method significantly improves upon the
state of the art on all public benchmarks.Comment: Accept as a regular paper to IEEE Transactions on Image Processin