This paper introduces a novel weighted unsupervised learning for object detection using an RGB-D camera. This technique is feasible for detecting the moving objects in the noisy environments that are captured by an RGB-D camera. The main contribution of this paper is a real-time algorithm for detecting each object using weighted clustering as a separate cluster. In a preprocessing step, the algorithm calculates the pose 3D position X, Y, Z and RGB color of each data point and then it calculates each data point's normal vector using the point's neighbor. After preprocessing, our algorithm calculates k-weights for each data point; each weight indicates membership. Resulting in clustered objects of the scene.
@article{arxiv.1602.05920,
title = {Weighted Unsupervised Learning for 3D Object Detection},
author = {Kamran Kowsari and Manal H. Alassaf},
journal= {arXiv preprint arXiv:1602.05920},
year = {2018}
}