Unsupervised object individuation from RGB-D image sequences

In this paper, we propose a novel unified framework for unsupervised object individuation from RGB-D image sequences. The proposed framework integrates existing location-based and feature-based object segmentation methods to achieve both computational efficiency and robustness in unstructured and dynamic situations. Based on the infant´s object indexing theory, the newly proposed ambiguity graph plays as a key component of the framework to detect falsely segmented objects and rectify them by using both location and feature information. In order to evaluate the proposed method, three table-top multiple object manipulation scenarios were performed: stacking, unstacking, and occluding tasks. The results showed that the proposed method is more robust than the location-only method and more efficient than the feature-only method.