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Proceedings Paper

Tripod operators for efficient search of point cloud data for known surface shapes
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Paper Abstract

We address the problem of searching large amounts of 3D point set data for specific objects of interest, as characterized by their surface shape. Motivating applications include the detection of ambush weapons from a convoy and the search for objects of interest on the ground from an aircraft. Such data can occur in the form of relatively unstructured point sets or range images, and can be derived from a variety of sensors. We study here the performance of Tripod Operators (TOs) on synthetic range image data containing the shape of an oil drum; a cylinder with planar top. Tripod Operators are an efficient method of extracting coordinate invariant shape information from surface shape representations using discrete samples extracted in a specially constrained manner. They can be used in a variety of ways as components of a system which performs detection, recognition and localization of objects based on their surface shape. We present experimental results which characterize the approximate accuracy of detection of the test shape as a function of the accuracy of the surface shape data. This is motivated by the need for an estimate of the required accuracy of 3D surveillance data to enable detection of specific shapes.

Paper Details

Date Published: 7 May 2012
PDF: 6 pages
Proc. SPIE 8382, Active and Passive Signatures III, 83820O (7 May 2012); doi: 10.1117/12.924831
Show Author Affiliations
Frank Pipitone, U.S. Naval Research Lab. (United States)
Charmaine Gilbreath, U.S. Naval Research Lab. (United States)
David Bonanno, U.S. Naval Research Lab. (United States)


Published in SPIE Proceedings Vol. 8382:
Active and Passive Signatures III
G. Charmaine Gilbreath; Chadwick Todd Hawley, Editor(s)

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