3 February 2014 SDTP: a robust method for interest point detection on 3D range images
Author Affiliations +
Abstract
In fields of intelligent robots and computer vision, the capability to select a few points representing salient structures has always been focused and investigated. In this paper, we present a novel interest point detector for 3D range images, which can be used with good results in applications of surface registration and object recognition. A local shape description around each point in the range image is firstly constructed based on the distribution map of the signed distances to the tangent plane in its local support region. Using this shape description, the interest value is computed for indicating the probability of a point being the interest point. Lastly a Non-Maxima Suppression procedure is performed to select stable interest points on positions that have large surface variation in the vicinity. Our method is robust to noise, occlusion and clutter, which can be seen from the higher repeatability values compared with the state-of-the-art 3D interest point detectors in experiments. In addition, the method can be implemented easily and requires low computation time.
© (2014) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Shandong Wang, Shandong Wang, Lujin Gong, Lujin Gong, Hui Zhang, Hui Zhang, Yongjie Zhang, Yongjie Zhang, Haibing Ren, Haibing Ren, Seon-Min Rhee, Seon-Min Rhee, Hyong-Euk Lee, Hyong-Euk Lee, } "SDTP: a robust method for interest point detection on 3D range images", Proc. SPIE 9025, Intelligent Robots and Computer Vision XXXI: Algorithms and Techniques, 90250O (3 February 2014); doi: 10.1117/12.2037133; https://doi.org/10.1117/12.2037133
PROCEEDINGS
9 PAGES


SHARE
RELATED CONTENT

Determining the Pose of an Object
Proceedings of SPIE (June 09 1986)
Hough transform for 3-D object recognition
Proceedings of SPIE (March 01 1992)
Efficient Encoding Of Local Shape Features For 3 D...
Proceedings of SPIE (March 27 1989)
3-D Object Recognition By Multiple-Contour Matching
Proceedings of SPIE (February 19 1988)

Back to Top