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arXiv 1304.3192cs.CV
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三维局部表面描述和物体识别的旋转投影统计方法

Rotational Projection Statistics for 3D Local Surface Description and Object Recognition

National University of Defense Technology(国防科技大学);The University of Western Australia(西澳大学)

Yulan Guo, Ferdous Sohel, Mohammed Bennamoun, Min Lu, Jianwei Wan

摘要:

在存在噪声、变化的网格分辨率、遮挡和杂波的情况下识别3D对象是一项非常具有挑战性的任务。本文提出了一种新的方法旋转投影统计(RoPS)。它有三个主要模块:局部参考框架(LRF)定义,RoPS特征描述和三维物体识别。我们提出了一种新的技术来定义的LRF通过计算的散布矩阵的所有点躺在局部表面上。RoPS特征描述符通过将特征点的相邻点旋转投影到2D平面上并计算这些投影点的分布的一组统计(包括低阶中心矩和熵)来获得。使用所提出的LRF和RoPS描述符,我们提出了一个分层的三维物体识别算法。所提出的LRF,RoPS描述符和对象识别算法的性能进行了严格的测试,一些流行的和公开的数据集。我们提出的技术表现出优越的性能相比,现有的技术。我们还表明,我们的方法是强大的噪声和不同的网格分辨率。在博洛尼亚、西澳大学、皇后大学和Ca' Foscari Venezia数据集上测试时,我们基于RoPS的算法分别实现了100%、98.9%、95.4%和96.0%的识别率。

英文摘要:

Recognizing 3D objects in the presence of noise, varying mesh resolution, occlusion and clutter is a very challenging task. This paper presents a novel method named Rotational Projection Statistics (RoPS). It has three major modules: Local Reference Frame (LRF) definition, RoPS feature description and 3D object recognition. We propose a novel technique to define the LRF by calculating the scatter matrix of all points lying on the local surface. RoPS feature descriptors are obtained by rotationally projecting the neighboring points of a feature point onto 2D planes and calculating a set of statistics (including low-order central moments and entropy) of the distribution of these projected points. Using the proposed LRF and RoPS descriptor, we present a hierarchical 3D object recognition algorithm. The performance of the proposed LRF, RoPS descriptor and object recognition algorithm was rigorously tested on a number of popular and publicly available datasets. Our proposed techniques exhibited superior performance compared to existing techniques. We also showed that our method is robust with respect to noise and varying mesh resolution. Our RoPS based algorithm achieved recognition rates of 100%, 98.9%, 95.4% and 96.0% respectively when tested on the Bologna, UWA, Queen's and Ca' Foscari Venezia Datasets.

机构、总结、中文摘要均由AI分析而来,可能存在错误,请以论文正文为准。

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