A method of 3D object recognition and localization in a cloud of points

被引：0
作者：
Jerzy Bielicki
Robert Sitnik
机构：
[1] Warsaw University of Technology,Institute of Micromechanics and Photonics
来源：
EURASIP Journal on Advances in Signal Processing | / 2013卷
关键词：
3D object recognition; Point cloud;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
The proposed method given in this article is prepared for analysis of data in the form of cloud of points directly from 3D measurements. It is designed for use in the end-user applications that can directly be integrated with 3D scanning software. The method utilizes locally calculated feature vectors (FVs) in point cloud data. Recognition is based on comparison of the analyzed scene with reference object library. A global descriptor in the form of a set of spatially distributed FVs is created for each reference model. During the detection process, correlation of subsets of reference FVs with FVs calculated in the scene is computed. Features utilized in the algorithm are based on parameters, which qualitatively estimate mean and Gaussian curvatures. Replacement of differentiation with averaging in the curvatures estimation makes the algorithm more resistant to discontinuities and poor quality of the input data. Utilization of the FV subsets allows to detect partially occluded and cluttered objects in the scene, while additional spatial information maintains false positive rate at a reasonably low level.
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