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Occlusion Reasoning for Object Detectionunder Arbitrary Viewpoint

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2 Author(s)
Hsiao, E. ; Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA ; Hebert, M.

We present a unified occlusion model for object instance detection under arbitrary viewpoint. Whereas previous approaches primarily modeled local coherency of occlusions or attempted to learn the structure of occlusions from data, we propose to explicitly model occlusions by reasoning about 3D interactions of objects. Our approach accurately represents occlusions under arbitrary viewpoint without requiring additional training data, which can often be difficult to obtain. We validate our model by incorporating occlusion reasoning with the state-of-the-art LINE2D and Gradient Network methods for object instance detection and demonstrate significant improvement in recognizing texture-less objects under severe occlusions.

Published in:

Pattern Analysis and Machine Intelligence, IEEE Transactions on  (Volume:36 ,  Issue: 9 )