3D object recognition based on improved point cloud descriptors

Weiwei Wen; Gongjian Wen; Bingwei Hui; Shaohua Qiu

doi:10.1117/12.2503095

9 August 2018 3D object recognition based on improved point cloud descriptors

Weiwei Wen, Gongjian Wen, Bingwei Hui, Shaohua Qiu

Proceedings Volume 10806, Tenth International Conference on Digital Image Processing (ICDIP 2018); 108060O (2018) https://doi.org/10.1117/12.2503095
Event: Tenth International Conference on Digital Image Processing (ICDIP 2018), 2018, Shanghai, China

Abstract

For 3D object recognition, a discriminative point cloud descriptor is required to represent the object. The existing global descriptors encode the whole object into a vector but they are sensitive to occlusion. On the contrary, the local descriptors encode only a small neighbor of a key point and are more robust to occlusion, but many objects have the same local surface. This paper presents a novel mixture method which segments a point cloud into multiple subparts to overcome the above shortcomings. In offline training stage, we propose to build up the model library that integrates both global and local surface of partial point clouds. In online recognition stage, the scene objects are represented by its subparts, and a voting scheme is performed for the recognition of scene objects. Experimental results on public datasets show that the proposed method promotes the recognition performance significantly compared to the conventional global and local descriptors.

Citation Download Citation

Weiwei Wen, Gongjian Wen, Bingwei Hui, and Shaohua Qiu "3D object recognition based on improved point cloud descriptors", Proc. SPIE 10806, Tenth International Conference on Digital Image Processing (ICDIP 2018), 108060O (9 August 2018); https://doi.org/10.1117/12.2503095

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available