Graph-based RGB-D Image Segmentation Using Color-directional-region Merging

Color and depth information provided simultaneously in RGB-D images can be used to segment scenes into disjoint regions. In this paper, a graph-based segmentation method for RGB-D image is proposed, in which an adaptive data-driven combination of color- and normal-variation is presented to construct dissimilarity between two adjacent pixels and a novel region merging threshold exploiting normal information in adjacent regions is proposed to control the proceeding of the region merging. We evaluate our method on the NYU-v2 depth database and compare it with several published RGB-D partition methods. The experimental results show that our method is comparable with the state-of-the-art methods and provides more details of structures in the scene.