基于SHOT和特征点距离与角度关系的三维目标识别方法

H. Kudo, Hiroki Imamura Kazuo Ikeshiro
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引用次数: 1

摘要

近年来,人类支援机器人受到了人们的关注。这个机器人需要执行各种任务来支持人类。特别是物体识别任务,当人们要求机器人搬运和重新排列物体时,这是非常重要的。物体识别方法,特别是利用三维传感器的方法也受到人们的关注。作为传统的利用三维信息的目标识别方法,方向直方图特征(Signature of Histogram of OrienTations,简称SHOT)是常用的识别方法。由于SHOT描述符由352个维度表示,因此SHOT执行高精度的对象识别。然而,SHOT会错误识别具有相同特征但不是相同物体的物体,以及三维物体中是否存在遮挡。作为解决方案,我想提出利用SHOT的积极部分的高质量的目标识别方法。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A 3-Dimensional Object Recognition Method Using SHOT and Relationship of Distances and Angles in Feature Points
In recent years, a human support robot has been receiving attention. This robot is required to perform various tasks to support humans. Especially the object recognition task, which is important when people request the robot to transport and rearrange objects. Object recognition methods, especially using the 3D sensor are also receiving attention. As conventional object recognition methods using 3dimensional information, Signature of Histogram of OrienTations (SHOT) is commonly used. SHOT performs highly accurate object recognition since SHOT descriptor is represented by 352 dimensions. However SHOT misrecognizes objects which have the same feature but which are not the same objects and if there is occlusion in the 3-dimensional object. As a solution, I would like to propose the object recognition method with high quality by using the positive part of SHOT.
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