6. The method of claim 1 , further comprising the steps of: assigning each of the semantic class labels to a corresponding node of the graph; computing a count of the 4-connections between nodes; and forming an edge between two nodes when the count is above a predetermined number of pixels.
6. The method of claim 1 , further comprising the steps of: assigning each of the semantic class labels to a corresponding node of the graph; computing a count of the 4-connections between nodes; and forming an edge between two nodes when the count is above a predetermined number of pixels. 8. The method of claim 6 , further comprising the steps of: defining a summarization loss for each summarization of a semantic class label to its parent; computing a summarization cost for every summarization based both on the reduction of information given by the class dependent tree and a description cost of a scene description in number of words; computing a final cost value by combining the summarization cost and the description cost using a weigh that is a function of a verbose level; and summarizing the at least two semantic class labels to a parent node when the verbose level is low, the weight for the scene description cost is high, and the weight for summarization loss is low.