Feature Intuition

Given the segmented point cloud shown above, what features might be useful in identifying a particular object in the scene?

Color

Position within the scene

Shape

Size

SOLUTION:

• **Color**
• **Position within the scene**
• **Shape**
• **Size**

QUIZ QUESTION::

Features describe the characteristics of an object. With RGB-D point clouds, you have three color channels and three spatial coordinates.

**Match up the different features with the characteristic(s) that they capture about an object in a point cloud. **

**(To do so, drag and drop the colored boxes to the column on the right.) **

ANSWER CHOICES:

The color distribution of points in 2D (e.g., after a projection along the viewing axis).

The distribution in color space (e.g., a histogram of each color channel).

3D spatial distribution of points.

Features	Characteristics
Detailed color information.
Object color and shape.
Detailed shape information.

SOLUTION:

Features	Characteristics
Detailed color information.	The distribution in color space (e.g., a histogram of each color channel).
Object color and shape.	The color distribution of points in 2D (e.g., after a projection along the viewing axis).
Detailed shape information.	3D spatial distribution of points.