Abstract

We present a discriminative graphical model which integrates geometrical information from RGBD images in its unary, pairwise and higher order components. We propose an improved geometry estimation scheme which is robust to erroneous sensor inputs. At the unary level, we combine appearance based beliefs defined on pixels and planes using a hybrid decision fusion scheme. Our proposed location potential gives an improved representation of the planar classes. At the pairwise level, we learn a balanced combination of various boundaries to consider the spa- tial discontinuity. Finally, we treat planar regions as higher order cliques and use graphcuts to make efficient inference. In our model based formu- lation, we use structured learning to fine tune the model parameters. We test our approach on two RGBD datasets and demonstrate significant improvements over the state-of-the-art scene labeling techniques.