Hierarchical organization of appearance-based parts and relations for object recognition

Previously a new object representation using appearance-based parts and relations to recognize 3D objects from 2D images, in the presence of occlusion and background clutter, was introduced. Appearance-based parts and relations are defined in terms of closed regions and the union of these regions, respectively. The regions are segmented using the MDL principle, and their appearance is obtained from collection of images and compactly represented by parametric manifolds in the eigenspaces spanned by the parts and the relations. In this paper we introduce the discriminatory power of the proposed features and describe how to use it to organize large databases of objects