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Using spin images for efficient object recognition in cluttered 3D scenes
Abstract
We present a 3D shape-based object recognition system for simultaneous recognition of multiple objects in scenes containing clutter and occlusion. Recognition is based on matching surfaces by matching points using the spin image representation. The spin image is a data level shape descriptor that is used to match surfaces represented as surface meshes. We present a compression scheme for spin images that results in efficient multiple object recognition which we verify with results showing the simultaneous recognition of multiple objects from a library of 20 models. Furthermore, we demonstrate the robust performance of recognition in the presence of clutter and occlusion through analysis of recognition trials on 100 scenes.
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Cited by
Dynamic Graph CNN for Learning on Point Clouds
Wang, Y., Sun, Y., Liu, Z., Sarma, S. E., Bronstein, M. M., & Solomon, J. M. (2019) · ACM Transactions on Graphics · doi:10.1145/3326362 · Cited by 7,199
VoxelNet: End-to-End Learning for Point Cloud Based 3D Object Detection
Zhou, Y., & Tuzel, O. (2018) · 2018 IEEE/CVF Conference on Computer Vision and Pattern Recognition · doi:10.1109/cvpr.2018.00472 · Cited by 4,813
SemanticKITTI: A Dataset for Semantic Scene Understanding of LiDAR Sequences
Behley, J., Garbade, M., Milioto, A., Quenzel, J., Behnke, S., Stachniss, C., & Gall, J. (2019) · 2019 IEEE/CVF International Conference on Computer Vision (ICCV) · doi:10.1109/iccv.2019.00939 · Cited by 2,294
Zhang, J., Marszałek, M., Lazebnik, S., & Schmid, C. (2007) · International Journal of Computer Vision · doi:10.1007/s11263-006-9794-4 · Cited by 1,923
Unique Signatures of Histograms for Local Surface Description
Tombari, F., Salti, S., & Di Stefano, L. (2010) · Lecture Notes in Computer Science · doi:10.1007/978-3-642-15558-1_26 · Cited by 1,480
Metadata
- Authors
- Johnson, A. E., & Hebert, M.
- Venue
- IEEE Transactions on Pattern Analysis and Machine Intelligence
- Published
- 1999-05
- Volume
- 21
- Issue
- 5
- Pages
- 433-449
- ISSN
- 0162-8828 (ISSN-L)
- OpenAlex
- W2099606917
- Cited by
- 2,599
- References
- 0
- FWCI
- 15.65
- Type
- journal article
- Language
- en
- Open access
- closed
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- Johnson, A. E., & Hebert, M. (1999). Using spin images for efficient object recognition in cluttered 3D scenes. IEEE Transactions on Pattern Analysis and Machine Intelligence. https://doi.org/10.1109/34.765655
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