Paper Abstract and Keywords |
Presentation |
2011-01-21 18:25
Robust and Fast 3D Object Recognition by Exhaustive Matching of Range Data Hironobu Fukai, Jumpei Takagi, Gang Xu (Ritsumeikan Univ.) PRMU2010-207 MVE2010-132 |
Abstract |
(in Japanese) |
(See Japanese page) |
(in English) |
This paper proposes a 3D object recognition method based on range data.
Exhaustive search is used to robust matching of initial positions for the registered model from the range image, and ICP algorithm is employed for precise alignment. In this case, reduction of initial positions for ICP algorithm by non-extremum suppression that uses distance between range data and model solves the problem of calculation cost. The distance evaluation function that robust for measurement error tackles the outlier problem. The problem of calculation cost is solved by registering the distance from the model beforehand by the distance field. The effectiveness of the proposed method is shown by a simulation and actual data. |
Keyword |
(in Japanese) |
(See Japanese page) |
(in English) |
Object Recognition / Exhaustive Search / Distance Field / ICP Algorithm / Point Cloud / / / |
Reference Info. |
IEICE Tech. Rep., vol. 110, no. 381, PRMU2010-207, pp. 429-434, Jan. 2011. |
Paper # |
PRMU2010-207 |
Date of Issue |
2011-01-13 (PRMU, MVE) |
ISSN |
Print edition: ISSN 0913-5685 Online edition: ISSN 2432-6380 |
Copyright and reproduction |
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034) |
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PRMU2010-207 MVE2010-132 |
Conference Information |
Committee |
PRMU MVE IPSJ-CVIM |
Conference Date |
2011-01-20 - 2011-01-21 |
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(See Japanese page) |
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Paper Information |
Registration To |
PRMU |
Conference Code |
2011-01-PRMU-MVE |
Language |
Japanese |
Title (in Japanese) |
(See Japanese page) |
Sub Title (in Japanese) |
(See Japanese page) |
Title (in English) |
Robust and Fast 3D Object Recognition by Exhaustive Matching of Range Data |
Sub Title (in English) |
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Keyword(1) |
Object Recognition |
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Exhaustive Search |
Keyword(3) |
Distance Field |
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ICP Algorithm |
Keyword(5) |
Point Cloud |
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1st Author's Name |
Hironobu Fukai |
1st Author's Affiliation |
Ritsumeikan University (Ritsumeikan Univ.) |
2nd Author's Name |
Jumpei Takagi |
2nd Author's Affiliation |
Ritsumeikan University (Ritsumeikan Univ.) |
3rd Author's Name |
Gang Xu |
3rd Author's Affiliation |
Ritsumeikan University (Ritsumeikan Univ.) |
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Speaker |
Author-1 |
Date Time |
2011-01-21 18:25:00 |
Presentation Time |
25 minutes |
Registration for |
PRMU |
Paper # |
PRMU2010-207, MVE2010-132 |
Volume (vol) |
vol.110 |
Number (no) |
no.381(PRMU), no.382(MVE) |
Page |
pp.429-434 |
#Pages |
6 |
Date of Issue |
2011-01-13 (PRMU, MVE) |
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