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基于增强型点对特征的三维目标识别方法
Alternative Title3D object recognition based on enhanced point pair features
鲁荣荣1,2,3,4,5; 朱枫1,2,4,5; 吴清潇1,2,4,5; 陈佛计1,2,3,4,5; 崔芸阁1,2,3,4,5; 孔研自1,2,3,4,5
Department光电信息技术研究室
Source Publication光学学报
ISSN0253-2239
2019
Volume39Issue:8Pages:1-10
Indexed ByEI ; CSCD
EI Accession number20193607409771
CSCD IDCSCD:6570515
Contribution Rank1
Funding Organization国家自然科学基金(U1713216) ; 机器人学国家重点实验室自主课题(2017-Z21)
Keyword机器视觉 点对特征 三维目标识别 可见性约束
Abstract

针对基于原始点对特征的三维目标识别算法中存在的内存浪费、效率不高的问题,提出了一种基于增强型点对特征的三维目标识别算法。通过在原始点对特征的第四个分量上乘以一个符号函数,得到了一种区分性更强的点对的特征,消除了原始点对特征存在的二义性。考虑到待识别目标三维模型存在的自遮挡,利用点对之间的视点可见性约束,剔除了目标三维模型哈希表中存在的大量冗余点对,减小了内存开销并提高了三维目标识别算法的准确率和效率。在开放数据集以及实际采集的数据集上的实验结果表明,与基于原始点对特征的算法相比,本文提出的三维目标识别方法在识别准确率以及识别效率上都有一定程度的提升。

Other Abstract

Aiming at the problem of memory waste and low efficiency in three-dimensional (3D) object recognition algorithm based on original point pair feature (PPF), a 3D object recognition algorithm based on enhanced point pair feature (EPPF) is proposed. By multiplying the fourth component of the original PPF with a sign function, a more distinguishing PPF is obtained, which eliminates the ambiguity of the original PPF. Considering the self-occlusion of the 3D model of the target to be identified, the large numbers of redundant point pairs existing in the target 3D model hash table are eliminated by means of the viewpoint visibility constraint between the point pair, which reduces the memory overhead and improves the accuracy and efficiency of the 3D object recognition algorithm. The experimental results on the open dataset and the actual collected dataset show that the proposed 3D object recognition algorithm in this paper has a certain degree of improvement in recognition accuracy and recognition efficiency.

Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/24668
Collection光电信息技术研究室
Corresponding Author朱枫
Affiliation1.中国科学院沈阳自动化研究所
2.中国科学院机器人与智能制造创新研究院
3.中国科学院大学
4.中国科学院光电信息处理重点实验室
5.辽宁省图像理解与视觉计算重点实验室
Recommended Citation
GB/T 7714
鲁荣荣,朱枫,吴清潇,等. 基于增强型点对特征的三维目标识别方法[J]. 光学学报,2019,39(8):1-10.
APA 鲁荣荣,朱枫,吴清潇,陈佛计,崔芸阁,&孔研自.(2019).基于增强型点对特征的三维目标识别方法.光学学报,39(8),1-10.
MLA 鲁荣荣,et al."基于增强型点对特征的三维目标识别方法".光学学报 39.8(2019):1-10.
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