A Multi-Modal, Discriminative and Spatially Invariant CNN for RGB-D Object Labeling.

While deep convolutional neural networks have shown a remarkable success in image classification, the problems of inter-class similarities, intra-class variances, the effective combination of multi-modal data, and the spatial variability in images of objects remain to be major challenges. To address these problems, this paper proposes a novel framework to learn a discriminative and spatially invariant classification model for object and indoor scene recognition using multi-modal RGB-D imagery. This is achieved through three postulates: 1) spatial invariance $-$ this is achieved by combining a spatial transformer network with a deep convolutional neural network to learn features which are invariant to spatial translations, rotations, and scale changes, 2) high discriminative capability $-$ this is achieved by introducing Fisher encoding within the CNN architecture to learn features which have small inter-class similarities and large intra-class compactness, and 3) multi-modal hierarchical fusion$-$ this is achieved through the regularization of semantic segmentation to a multi-modal CNN architecture, where class probabilities are estimated at different hierarchical levels (i.e., image- and pixel-levels), and fused into a Conditional Random Field (CRF)-based inference hypothesis, the optimization of which produces consistent class labels in RGB-D images. Extensive experimental evaluations on RGB-D object and scene datasets, and live video streams (acquired from Kinect) show that our framework produces superior object and scene classification results compared to the state-of-the-art methods.