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
    EditorsGang Hua, Herve Jegou
    PublisherSpringer Verlag
    Pages595-605
    Number of pages11
    ISBN (Print)9783319494081
    DOIs
    Publication statusPublished - 2016
    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

    Keywords

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

    ASJC Scopus subject areas

    • Theoretical Computer Science
    • Computer Science(all)

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