Towards real-time object recognition using pairs of lines

Stuart Meikle , B.P. Amavasai , F. Caparrelli
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引用次数: 3

Abstract

This paper presents a description of the “Pairs Of Lines” object recognition algorithm used in the MIMAS Computer Vision toolkit. This toolkit was developed at Sheffield Hallam University and the “Pairs of Lines” method was used in a recent European Union funded project.1

The algorithm was developed to enable a micro-robot system (Amavasai et al., InstMC Journal of Measurement and Control) to recognize geometric planar objects in real-time, in a noisy environment.

The method involves using straight line segments which are extracted from both the known object models and from the visual scene that the objects are to be located in. Pairs of these straight lines are then compared. If there is a geometric match between the two pairs an estimate of the possible position, orientation and scale of the model in the scene is made. The estimates are collated, as all possible pairs of lines are compared. The process yields the position, orientation and scale of the known models in the scene. The algorithm has been optimized for speed.

This paper describes the method in detail and presents experimental results which indicate that the technique exhibits robustness to camera noise and partial occlusion and produces recognition in times under 1 s on a desktop PC. Recognition times are shown to be from 2 to 16 times faster than with the well-studied pairwise geometric histograms method. Recognition rates of up to 80% were achieved with scenes having signal to noise ratios of 2.5.

走向实时目标识别使用对线
本文介绍了MIMAS计算机视觉工具包中使用的“对线”对象识别算法的描述。该工具包由谢菲尔德哈勒姆大学开发,“线对”方法在最近的一个欧盟资助项目中使用。该算法的开发是为了使微型机器人系统(Amavasai等人,InstMC测量与控制杂志)能够在嘈杂环境中实时识别几何平面物体。该方法包括使用从已知对象模型和目标所处的视觉场景中提取的直线段。然后对这些直线进行比较。如果两对之间存在几何匹配,则对场景中模型的可能位置,方向和比例进行估计。这些估计值是经过整理的,因为所有可能的线对都会进行比较。该过程生成场景中已知模型的位置、方向和比例。该算法对速度进行了优化。本文详细介绍了该方法,并给出了实验结果,结果表明该方法对相机噪声和部分遮挡具有较好的鲁棒性,在桌面PC上的识别时间小于1 s。结果表明,识别时间比研究充分的成对几何直方图方法快2到16倍。在信噪比为2.5的场景下,识别率高达80%。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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