Physical reasoning for 3D object recognition using global hypothesis verification

Shuichi Akizuki, Manabu Hashimoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

In this paper, we propose a method to recognize the 6DoF pose of multiple objects simultaneously. One good solution to recognize them is applying a Hypothesis Verification (HV) algorithm. This type of algorithm evaluates consistency between an input scene and scene hypotheses represented by combinations of object candidates generated from the model based matching. Its use achieves reliable recognition because it maximizes the fitting score between the input scene and the scene hypotheses instead of maximizing the fitting score of an object candidate. We have developed a more reliable HV algorithm that uses a novel cue, the naturalness of an object’s layout (its physical reasoning). This cue evaluates whether the object’s layout in a scene hypothesis can actually be achieved by using simple collision detection. Experimental results show that using the physical reasoning have improved recognition reliability.

Original languageEnglish
Title of host publicationComputer Vision – ECCV 2016 Workshops, Proceedings
PublisherSpringer Verlag
Pages595-605
Number of pages11
Volume9915 LNCS
ISBN (Print)9783319494081
DOIs
Publication statusPublished - 2016
Externally publishedYes
Event14th European Conference on Computer Vision, ECCV 2016 - Amsterdam, Netherlands
Duration: 2016 Oct 82016 Oct 16

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume9915 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other14th European Conference on Computer Vision, ECCV 2016
CountryNetherlands
CityAmsterdam
Period16/10/816/10/16

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Keywords

  • 3D object recognition
  • Collision detection
  • Hypothesis verification
  • Point cloud

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

Cite this

Akizuki, S., & Hashimoto, M. (2016). Physical reasoning for 3D object recognition using global hypothesis verification. In Computer Vision – ECCV 2016 Workshops, Proceedings (Vol. 9915 LNCS, pp. 595-605). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 9915 LNCS). Springer Verlag. https://doi.org/10.1007/978-3-319-49409-8_51