3 February 2014 High-speed object matching and localization using gradient orientation features
Author Affiliations +
In many robotics and automation applications, it is often required to detect a given object and determine its pose (position and orientation) from input images with high speed, high robustness to photometric changes, and high pose accuracy. We propose a new object matching method that improves efficiency over existing approaches by decomposing orientation and position estimation into two cascade steps. In the first step, an initial position and orientation is found by matching with Histogram of Oriented Gradients (HOG), reducing orientation search from 2D template matching to 1D correlation matching. In the second step, a more precise orientation and position is computed by matching based on Dominant Orientation Template (DOT), using robust edge orientation features. The cascade combination of the HOG and DOT feature for high-speed and robust object matching is the key novelty of the proposed method. Experimental evaluation was performed with real-world single-object and multi-object inspection datasets, using software implementations on an Atom CPU platform. Our results show that the proposed method achieves significant speed improvement compared to an already accelerated template matching method at comparable accuracy performance.
© (2014) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Xinyu Xu, Xinyu Xu, Peter van Beek, Peter van Beek, Xiaofan Feng, Xiaofan Feng, "High-speed object matching and localization using gradient orientation features", Proc. SPIE 9025, Intelligent Robots and Computer Vision XXXI: Algorithms and Techniques, 902507 (3 February 2014); doi: 10.1117/12.2038026; https://doi.org/10.1117/12.2038026


Extra high quality imaging system
Proceedings of SPIE (April 03 1997)
Adaptive approximation image coding models
Proceedings of SPIE (December 28 2000)
Resolution and light sensitivity tradeoff with pixel size
Proceedings of SPIE (February 09 2006)

Back to Top