High-speed and reliable object recognition based on low-dimensional local shape features

Masanobu Nagase, Shuichi Akizuki, Manabu Hashimoto

研究成果: Conference contribution

抄録

In this paper, we propose a high-speed 3-D object recognition method using new feature values. Features for the object recognition method proposed in this study consist of three values. One is the Difference of Normals (DoN) feature value that has been proposed by Ioannou. The other two represent information about curvature. We use these three-dimensional features to recognize the position and pose of multiple objects stacked randomly. Because they are low-dimensional, high-speed matching can be achieved. We have also reduced the computing time needed for data matching by using only effective points selected on the basis of their estimated distinctiveness. Experimental results using actual scenes have demonstrated that the computing time is about 93 times faster than that of the conventional SHOT method. Furthermore, the proposed method achieves a 98.2% recognition rate, which is 17.9% higher than that of the SHOT method. Also, we confirmed that the proposed method achieves higher-speed matching and higher recognition success rate than the conventional methods.

本文言語English
ホスト出版物のタイトル2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
出版社Institute of Electrical and Electronics Engineers Inc.
ページ82-87
ページ数6
ISBN(電子版)9781479951994
DOI
出版ステータスPublished - 1997 3 19
外部発表はい
イベント2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014 - Singapore, Singapore
継続期間: 2014 12 102014 12 12

Other

Other2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
CountrySingapore
CitySingapore
Period14/12/1014/12/12

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Artificial Intelligence
  • Control and Systems Engineering

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