Cuboids detection in RGB-D images via Maximum Weighted Clique

Cuboid detection is an essential step for understanding 3D structure of scenes. As most of indoor scene cuboids are actually objects, we propose in this paper an object-based approach to detect 3D cuboids in indoor RGB-D images. The proposed approach is learning-free and can handle general object classes rather than a limited pre-defined category set. In our approach, we first apply an extended version of the CPMC framework to generate a set of segment hypotheses, and fit a set of cuboid candidates. Given the candidate set, we select several cuboids that can provide plausible interpretations of the images by solving a Maximum Weighted Clique (MWC) problem. With this formulation, a set of ranked mid-level representations of the input image is obtained, and are further re-ranked by Maximal Marginal Relevance (MMR) measure to improve their diversity. Experimental results on NYU-V2 dataset shows that our method significantly outperforms the state-of-the-art, and shows impressive results.