Factorization of view-object manifolds for joint object recognition and pose estimation

•We address multi-view recognition problem by factorizing view-object manifold.•We use a common manifold to represent view manifolds of different objects.•We use the view manifold deformation for categorization.•We extensively experiment to validate the robustness and strength of our approach.

Due to large variations in shape, appearance, and viewing conditions, object recognition is a key precursory challenge in the fields of object manipulation and robotic/AI visual reasoning in general. Recognizing object categories, particular instances of objects and viewpoints/poses of objects are three critical subproblems robots must solve in order to accurately grasp/manipulate objects and reason about their environments. Multi-view images of the same object lie on intrinsic low-dimensional manifolds in descriptor spaces (e.g. visual/depth descriptor spaces). These object manifolds share the same topology despite being geometrically different. Each object manifold can be represented as a deformed version of a unified manifold. The object manifolds can thus be parameterized by its homeomorphic mapping/reconstruction from the unified manifold. In this work, we develop a novel framework to jointly solve the three challenging recognition sub-problems, by explicitly modeling the deformations of object manifolds and factorizing it in a view-invariant space for recognition. We perform extensive experiments on several challenging datasets and achieve state-of-the-art results.