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We address the problem of localizing waste objects from a color image and an optional depth image, which is a key perception component for robotic interaction with such objects. Specifically, our method integrates the intensity and depth information at multiple levels of spatial granularity. Firstly, a scene-level deep network produces an initial coarse segmentation, based on which we select a few potential object regions to zoom in and perform fine segmentation. The results of the above stepsdoi:10.3390/s20143816 pmid:32650515 fatcat:nzlfqkj3j5dqbhebwysqwi2d5i