Figure 2From: Consensus-Making Algorithms for Cognitive Sharing of Object in Multi-Robot SystemsIllustration of describing representations of target. The RGB-D image is employed as input. First, the depth image is divided into objects and other regions. The color and shape representation of each object are then described by using the RGB image and the segmented region. Finally, by using all the objects, geometric-relation-based representations are described.Back to article page