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Signature of position angles histograms for 3D object recognition
Author(s): Rongrong Lu; Feng Zhu; Yingming Hao; Huiying Cai; Yinshuai Zhao
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Paper Abstract

This paper presents a robust and rotation invariant local surface descriptor by encoding the position angles of neighboring points with a stable and unique local reference frame (LRF) into a 1D histogram. The whole procedure includes two stages: the first stage is to construct a unique LRF by performing eigenvalue decomposition on the covariance matrix formed using all the neighboring points on the local surface. On the second stage, the sphere support field of a key point was divided along the radius into several sphere shells which is similar with the Signature of Histograms OrienTations (SHOT). In each sphere shell, we calculate the cosine of the angles between the neighboring points and the x-axis, z-axis respectively to form two 1D histograms. Finally, all the 1D histograms were stitched together followed by a normalization to generate the local surface descriptor. Experiment results show that our proposed local feature descriptor is robust to noise and varying mesh-resolutions. Moreover, our local feature descriptor based 3D object recognition algorithm achieved a high average recognition rate of 98.9% on the whole UWA dataset.

Paper Details

Date Published: 21 July 2017
PDF: 7 pages
Proc. SPIE 10420, Ninth International Conference on Digital Image Processing (ICDIP 2017), 1042045 (21 July 2017); doi: 10.1117/12.2281542
Show Author Affiliations
Rongrong Lu, Shenyang Institute of Automation (China)
Univ. of Chinese Academy of Sciences (China)
Key Lab. of Optical-Electronics Information Processing (China)
Feng Zhu, Shenyang Institute of Automation (China)
Key Lab. of Optical-Electronics Information Processing (China)
Key Lab. of Image Understanding and Computer Vision (China)
Yingming Hao, Shenyang Institute of Automation (China)
Key Lab. of Optical-Electronics Information Processing (China)
Key Lab. of Image Understanding and Computer Vision (China)
Huiying Cai, Shenyang Institute of Automation (China)
Univ. of Chinese Academy of Sciences (China)
Key Lab. of Optical-Electronics Information Processing (China)
Yinshuai Zhao, Shenyang Institute of Automation (China)
Univ. of Chinese Academy of Sciences (China)
Key Lab. of Optical-Electronics Information Processing (China)


Published in SPIE Proceedings Vol. 10420:
Ninth International Conference on Digital Image Processing (ICDIP 2017)
Charles M. Falco; Xudong Jiang, Editor(s)

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