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With the advances of depth sensing technologies, color image plus depth information (referred to as RGB-D data hereafter) is more and more popular for comprehensive description of 3-D scenes. This paper proposes a two-stage segmentation method for RGB-D data: 1) oversegmentation by 3-D geometry enhanced superpixels and 2) graph-based merging with label cost from superpixels. In the oversegmentation...
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