Abstract
In this paper, we present an efficient algorithm for 3D object recognition in presence of clutter and occlusions in noisy, sparse and unsegmented range data. The method uses a robust geometric descriptor, a hashing technique and an efficient RANSAC-like sampling strategy. We assume that each object is represented by a model consisting of a set of points with corresponding surface normals. Our method recognizes multiple model instances and estimates their position and orientation in the scene. The algorithm scales well with the number of models and its main procedure runs in linear time in the number of scene points. Moreover, the approach is conceptually simple and easy to implement. Tests on a variety of real data sets show that the proposed method performs well on noisy and cluttered scenes in which only small parts of the objects are visible.
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Papazov, C., Burschka, D. (2011). An Efficient RANSAC for 3D Object Recognition in Noisy and Occluded Scenes. In: Kimmel, R., Klette, R., Sugimoto, A. (eds) Computer Vision – ACCV 2010. ACCV 2010. Lecture Notes in Computer Science, vol 6492. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-19315-6_11
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DOI: https://doi.org/10.1007/978-3-642-19315-6_11
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-19314-9
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