Persistent Homology Meets Object Unity: Object Recognition in Clutter
This addresses robust object recognition for low-cost robots in everyday indoor settings, representing a domain-specific incremental improvement.
The paper tackles the problem of recognizing occluded objects in unseen indoor environments for mobile robots by proposing a new descriptor TOPS and recognition framework THOR, which outperforms state-of-the-art methods on benchmark and new datasets with substantially higher recognition accuracy.
Recognition of occluded objects in unseen and unstructured indoor environments is a challenging problem for mobile robots. To address this challenge, we propose a new descriptor, TOPS, for point clouds generated from depth images and an accompanying recognition framework, THOR, inspired by human reasoning. The descriptor employs a novel slicing-based approach to compute topological features from filtrations of simplicial complexes using persistent homology, and facilitates reasoning-based recognition using object unity. Apart from a benchmark dataset, we report performance on a new dataset, the UW Indoor Scenes (UW-IS) Occluded dataset, curated using commodity hardware to reflect real-world scenarios with different environmental conditions and degrees of object occlusion. THOR outperforms state-of-the-art methods on both the datasets and achieves substantially higher recognition accuracy for all the scenarios of the UW-IS Occluded dataset. Therefore, THOR, is a promising step toward robust recognition in low-cost robots, meant for everyday use in indoor settings.