A Hierarchical Approach for Joint Multi-view Object Pose Estimation and Categorization

Mete Ozay, Krzysztof Walas, Ales Leonardis

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)
2 Downloads (Pure)


We propose a joint object pose estimation and categorization approach which extracts information about object poses and categories from the object parts and compositions constructed at different layers of a hierarchical object representation algorithm, namely Learned Hierarchy of Parts (LHOP). In the proposed approach, we first employ the
LHOP to learn hierarchical part libraries which represent entity parts and compositions across different object categories and views. Then, we extract statistical and geometric features from the part realizations of the objects in the images in order to represent the information about object pose and category at each different layer of the hierarchy. Unlike the traditional approaches which consider specific layers of the hierarchies
in order to extract information to perform specific tasks, we combine the information extracted at different layers to solve a joint object pose estimation and categorization problem using distributed optimization algorithms. We examine the proposed
generative-discriminative learning approach and the algorithms on two benchmark 2-D multi-view image datasets. The proposed approach and the algorithms outperform state-of-the-art classification, regression and feature extraction algorithms. In addition, the experimental results shed light on the relationship between object categorization, pose estimation and the part realizations observed at different layers of the hierarchy.
Original languageEnglish
Title of host publicationThe 2014 IEEE International Conference on Robotics and Automation (ICRA)
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages5480 - 5487
Number of pages8
Publication statusPublished - 2014


  • Data mining
  • Estimation
  • Feature extraction
  • Histograms
  • Joints
  • Optimization
  • Vectors


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