Learning Rich Features from RGBD Images for Object Detection and Segmentation
Inthispaperwestudytheproblemofobjectdetectionfor
RGB-Dimagesusingsemanticallyrichimageanddepthfeatures.Wepro-
poseanewgeocentricembeddingfordepthimagesthatencodesheight
abovegroundandanglewithgravityforeachpixelinadditiontothehor-
izontaldisparity.Wedemon
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