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Keypoint Detection in RGB-D Images Using Binary Patterns

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Robot 2015: Second Iberian Robotics Conference

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 418))

Abstract

Detection of keypoints in an image is a crucial step in most registration and recognition tasks. The information encoded in RGB-D images can be redundant and, usually, only specific areas in the image are useful for the classification process. The process of identifying those relevant areas is known as keypoint detection. The use of keypoints can facilitate the following stages in the image processing process by reducing the search space. To properly represent an image by means of a set of keypoints, properties like repeatability and distinctiveness have to be fullfilled. In this work, we propose a keypoint detection technique based on the Shape Binary Pattern (SBP) descriptor that can be computed from RGB-D images. Next, we rely on this method to identify the most discriminative patterns that are used to detect the most relevant keypoint. Experiments on a well-know benchmark for 3D keypoint detection have been performed to assess our proposal.

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Author information

Authors and Affiliations

  1. Computer Systems Department, University of Castilla-La Mancha, Campus Univ. s/n, 02071, Albacete, Spain

    Cristina Romero-González, Jesus Martínez-Gómez, Ismael García-Varea & Luis Rodríguez-Ruiz

  2. Computer Science and Artificial Intelligence Department, University of Alicante, P.O. Box 99, 03080, Alicante, Spain

    Jesus Martínez-Gómez

Authors
  1. Cristina Romero-González
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  2. Jesus Martínez-Gómez
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  3. Ismael García-Varea
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  4. Luis Rodríguez-Ruiz
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Corresponding author

Correspondence to Cristina Romero-González .

Editor information

Editors and Affiliations

  1. Info Syst Dept;Campus de Azurém, University of Minho, Guimarães, Portugal

    Luís Paulo Reis

  2. Electrical and Computer Engineering Dept, University of Porto, Porto, Portugal

    António Paulo Moreira

  3. Instituto Superior Tecnico - Torre Norte, University of Lisboa, Lisboa, Portugal

    Pedro U. Lima

  4. Engineering Dept., E. Ada Byron, Univ of Zaragoza, Computer & Systems, Zaragoza, Spain

    Luis Montano

  5. Automatic Control and Systems Eng. Dept., University of Malaga, Superior Technical, Málaga, Spain

    Victor Muñoz-Martinez

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Romero-González, C., Martínez-Gómez, J., García-Varea, I., Rodríguez-Ruiz, L. (2016). Keypoint Detection in RGB-D Images Using Binary Patterns. In: Reis, L., Moreira, A., Lima, P., Montano, L., Muñoz-Martinez, V. (eds) Robot 2015: Second Iberian Robotics Conference. Advances in Intelligent Systems and Computing, vol 418. Springer, Cham. https://doi.org/10.1007/978-3-319-27149-1_53

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  • DOI: https://doi.org/10.1007/978-3-319-27149-1_53

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-27148-4

  • Online ISBN: 978-3-319-27149-1

  • eBook Packages: Computer ScienceComputer Science (R0)

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