Proceedings ArticleDOI
Ensemble of shape functions for 3D object classification
Walter Wohlkinger,Markus Vincze +1 more
- pp 2987-2992
TLDR
The presented shape descriptor shows that the combination of angle, point-distance and area shape functions gives a significant boost in recognition rate against the baseline descriptor and outperforms the state-of-the-art descriptors in the experimental evaluation on a publicly available dataset of real-world objects in table scene contexts with up to 200 categories.Abstract:
This work addresses the problem of real-time 3D shape based object class recognition, its scaling to many categories and the reliable perception of categories. A novel shape descriptor for partial point clouds based on shape functions is presented, capable of training on synthetic data and classifying objects from a depth sensor in a single partial view in a fast and robust manner. The classification task is stated as a 3D retrieval task finding the nearest neighbors from synthetically generated views of CAD-models to the sensed point cloud with a Kinect-style depth sensor. The presented shape descriptor shows that the combination of angle, point-distance and area shape functions gives a significant boost in recognition rate against the baseline descriptor and outperforms the state-of-the-art descriptors in our experimental evaluation on a publicly available dataset of real-world objects in table scene contexts with up to 200 categories.read more
Citations
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Book ChapterDOI
Sliding Shapes for 3D Object Detection in Depth Images
Shuran Song,Jianxiong Xiao +1 more
TL;DR: This paper proposes to use depth maps for object detection and design a 3D detector to overcome the major difficulties for recognition, namely the variations of texture, illumination, shape, viewpoint, clutter, occlusion, self-occlusion and sensor noises.
Proceedings ArticleDOI
Scan Context: Egocentric Spatial Descriptor for Place Recognition Within 3D Point Cloud Map
Giseop Kim,Ayoung Kim +1 more
TL;DR: Scan Context is proposed, a non-histogram-based global descriptor from 3D Light Detection and Ranging (LiDAR) scans that makes loop-detection invariant to LiDAR viewpoint changes so that loops can be detected in places such as reverse revisit and corner.
Journal ArticleDOI
Tutorial: Point Cloud Library: Three-Dimensional Object Recognition and 6 DOF Pose Estimation
Aitor Aldoma,Zoltan-Csaba Marton,Federico Tombari,Walter Wohlkinger,Christian Potthast,Bernhard Zeisl,Radu Bogdan Rusu,Suat Gedikli,Markus Vincze +8 more
TL;DR: A rapidly growing group of people can acquire 3- D data cheaply and in real time, as these sensors are commodity hardware and sold at low cost.
Proceedings ArticleDOI
SegMatch: Segment based place recognition in 3D point clouds
TL;DR: It is quantitatively demonstrated that SegMatch can achieve accurate localization at a frequency of 1Hz on the largest sequence of the KITTI odometry dataset, and shown how this algorithm can reliably detect and close loops in real-time, during online operation.
Journal ArticleDOI
Deep Learning Advances in Computer Vision with 3D Data: A Survey
TL;DR: It is concluded that systems employing 2D views of 3D data typically surpass voxel-based (3D) deep models, which however, can perform better with more layers and severe data augmentation, therefore, larger-scale datasets and increased resolutions are required.
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