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A Novel Local Surface Description for Automatic 3D Object Recognition in Low Resolution Cluttered Scenes

Syed Afaq Ali Shah, Mohammed Bennamoun, Farid Boussaid, Amar A. El-Sallam
2013 2013 IEEE International Conference on Computer Vision Workshops  
We tested our proposed descriptor on the challenging low resolution Washington RGB-D (Kinect) object dataset, for the task of automatic 3D object recognition.  ...  Local surface description is a critical stage for feature matching and recognition tasks. This paper presents a rotation invariant local surface descriptor, called 3D-Div.  ...  We detected objects in the scene and extracted 3D-Div of each object. We then matched scene features with the object features in the database for recognition task.  ... 
doi:10.1109/iccvw.2013.88 dblp:conf/iccvw/ShahBBE13 fatcat:tumksz456fcx5nzpmynpczsoym

On the Repeatability and Quality of Keypoints for Local Feature-based 3D Object Retrieval from Cluttered Scenes

A. Mian, M. Bennamoun, R. Owens
2009 International Journal of Computer Vision  
3D object recognition from local features is robust to occlusions and clutter.  ...  We also propose an automatic scale selection technique for extracting multi-scale and scale invariant features to match objects at different unknown scales.  ...  Acknowledgements We thank the anonymous reviewers for their detailed comments and suggestions which resulted in the improvement of this paper. We also acknowledge J.  ... 
doi:10.1007/s11263-009-0296-z fatcat:c4xypj7obvgaxpcoepcwk25fme

A Review on Fuzzy Logic Based Object Recognition Techniques

Sanjay Arora
2017 International Journal for Research in Applied Science and Engineering Technology  
this paper discussed about various object recognition techniques such as text detection and recognition system based on a scalable feature learning algorithm and applied it to images of text in natural  ...  A novel approach to learning shape prior models from images annotated with bounding boxes. Based on the shape representation of oriented edge points, our learning process is robust to clutter.  ...  INTRODUCTION Automatic reading of text in natural scenes and it is on the recognition of individual characters in such scenes. Highlight why this can be a hard task.  ... 
doi:10.22214/ijraset.2017.10126 fatcat:4en674tvjnfinlawdwpvyrc5z4

Action4D: Real-time Action Recognition in the Crowd and Clutter [article]

Quanzeng You, Hao Jiang
2018 arXiv   pre-print
Recognizing multiple people's actions in the cluttered 4D representation is a new problem. In this paper, we propose novel methods to solve this problem.  ...  We propose to tackle the action recognition problem using a holistic 4D "scan" of a cluttered scene to include every detail about the people and environment.  ...  In this paper, we propose a novel 4D method for robust action recognition.  ... 
arXiv:1806.02424v1 fatcat:akm6ewbiuzbf3b3t435wvrwexi

3D Geometric Scale Variability in Range Images: Features and Descriptors

Prabin Bariya, John Novatnack, Gabriel Schwartz, Ko Nishino
2012 International Journal of Computer Vision  
of range images and 3D object recognition in highly cluttered range image scenes.  ...  In this paper we present a comprehensive framework for exploiting this 3D geometric scale variability in range images that provides rich information for characterizing the overall geometry.  ...  For instance, in a human face, both the tip of the nose and dimples are discriminative geometric features suitable for representing the underlying surface.  ... 
doi:10.1007/s11263-012-0526-7 fatcat:tc4huygzcfb4bebtwjev6f6yju

Three-Dimensional Model-Based Object Recognition and Segmentation in Cluttered Scenes

A.S. Mian, M. Bennamoun, R. Owens
2006 IEEE Transactions on Pattern Analysis and Machine Intelligence  
We present a novel 3D model-based algorithm which performs this task automatically and efficiently.  ...  Viewpoint independent recognition of free-form objects and their segmentation in the presence of clutter and occlusions is a challenging task.  ...  ACKNOWLEDGMENTS The authors would like to acknowledge: CMU for providing range data (model 23 and 30 of Fig. 12 ), 3D model (13) , the mesh reduction, and the spin image recognition code; Stanford University  ... 
doi:10.1109/tpami.2006.213 pmid:16986541 fatcat:az54im5tvng4dnzz5ukqrn3ini

Scale-hierarchical 3D object recognition in cluttered scenes

Prabin Bariya, Ko Nishino
2010 2010 IEEE Computer Society Conference on Computer Vision and Pattern Recognition  
3D object recognition in scenes with occlusion and clutter is a difficult task. In this paper, we introduce a method that exploits the geometric scale-variability to aid in this task.  ...  Furthermore, for the first time we systematically demonstrate the method's ability to accurately localize objects despite changes in their global scales.  ...  Acknowledgement This work was supported in part by National Science Foundation CAREER Award IIS-0746717 and IIS-0803670.  ... 
doi:10.1109/cvpr.2010.5539774 dblp:conf/cvpr/BariyaN10 fatcat:t7ks2g3nvfa2ndann4cku6fxf4

Recognizing Objects in 3D Point Clouds with Multi-Scale Local Features

Min Lu, Yulan Guo, Jun Zhang, Yanxin Ma, Yinjie Lei
2014 Sensors  
Recognizing 3D objects from point clouds in the presence of significant clutter and occlusion is a highly challenging task. In this paper, we present a coarse-to-fine 3D object recognition algorithm.  ...  These scene features are then matched against all model features to generate recognition hypotheses, which include model hypotheses and pose hypotheses.  ...  Min Lu was responsible for the theoretical work of this paper, and Yulan Guo and Yanxin Ma implemented the algorithm and conducted most of the experiments.  ... 
doi:10.3390/s141224156 pmid:25517694 pmcid:PMC4299104 fatcat:2baxtude6japxpbmn7jo2gzzay

Using spin images for efficient object recognition in cluttered 3D scenes

A.E. Johnson, M. Hebert
1999 IEEE Transactions on Pattern Analysis and Machine Intelligence  
We present a 3D shape-based object recognition system for simultaneous recognition of multiple objects in scenes containing clutter and occlusion.  ...  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  ...  We would also like to thank Karun Shimoga for the use of the K 2 T sensor and Kaushik Merchant for his time spent segmenting 3D scenes.  ... 
doi:10.1109/34.765655 fatcat:i5kuma24mvarrda3clsz2m2dmq

Integrating shape and color cues for textured 3D object recognition

Yulan Guo, Ferdous A. Sohel, Mohammed Bennamoun, Jianwei Wan, Min Lu
2013 2013 IEEE 8th Conference on Industrial Electronics and Applications (ICIEA)  
3D object recognition is a fundamental research topic. However, shape only feature descriptors for 3D object recognition have been the main focus of research.  ...  In this paper we present novel 3D object recognition algorithms which use not only shape but also color cues.  ...  Mian et al. proposed a tensor based algorithm for automatic 3D modeling and object recognition [14] .  ... 
doi:10.1109/iciea.2013.6566627 fatcat:w4d2adnucfh25fsnwgkhi3ov2e

Object registration in semi-cluttered and partial-occluded scenes for augmented reality

Qing Hong Gao, Tao Ruan Wan, Wen Tang, Long Chen
2018 Multimedia tools and applications  
We present two novel algorithms for object recognition and matching to improve the registration accuracy from model to scene transformation via point cloud fusion.  ...  Whilst the first algorithm effectively deals with simple scenes with few object occlusions, the second algorithm handles cluttered scenes with partial occlusions for robust real-time object recognition  ...  Publisher's Note Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.  ... 
doi:10.1007/s11042-018-6905-5 fatcat:jj5ejttqtzgnrnv3bxgmnnexcy

Robotic Pick-and-Place of Novel Objects in Clutter with Multi-Affordance Grasping and Cross-Domain Image Matching [article]

Andy Zeng, Shuran Song, Kuan-Ting Yu, Elliott Donlon, Francois R. Hogan, Maria Bauza, Daolin Ma, Orion Taylor, Melody Liu, Eudald Romo, Nima Fazeli, Ferran Alet (+9 others)
2020 arXiv   pre-print
Exhaustive experimental results demonstrate that our multi-affordance grasping achieves high success rates for a wide variety of objects in clutter, and our recognition algorithm achieves high accuracy  ...  The key new feature of the system is that it handles a wide range of object categories without needing any task-specific training data for novel objects.  ...  /1539099), NVIDIA, and Facebook for hardware, technical, and financial support.  ... 
arXiv:1710.01330v5 fatcat:yyytldcvnfbvnailib366awsg4

Robotic pick-and-place of novel objects in clutter with multi-affordance grasping and cross-domain image matching

Andy Zeng, Shuran Song, Kuan-Ting Yu, Elliott Donlon, Francois R. Hogan, Maria Bauza, Daolin Ma, Orion Taylor, Melody Liu, Eudald Romo, Nima Fazeli, Ferran Alet (+9 others)
2019 The international journal of robotics research  
Exhaustive experimental results demonstrate that our multi-affordance grasping achieves high success rates for a wide variety of objects in clutter, and our recognition algorithm achieves high accuracy  ...  The key new feature of the system is that it handles a wide range of object categories without needing any task-specific training data for novel objects.  ...  This paper is a revision of a paper appearing in the proceedings of the 2018 International Conference on Robotics and Automation (Zeng et al., 2018b) .  ... 
doi:10.1177/0278364919868017 fatcat:tjzvct4y7rfnfiqk5bhlegpiwi

A Perceptual Grouping Hierarchy for Appearance-Based 3D Object Recognition

Andrea Selinger, Randal C. Nelson
1999 Computer Vision and Image Understanding  
novel, to represent 3-D objects in a form that not only allows recognition, but reasoning about 3D manipulation of a sort that has been supported in the past only by 3D geometric models.  ...  In this report we consider the problem of 3D object recognition, and the role that perceptual grouping processes must play.  ...  3-D objects in a form that not only allows recognition, but reasoning about 3D manipulation of a sort that has been supported in the past only by 3D geometric models.  ... 
doi:10.1006/cviu.1999.0788 fatcat:ly2rpor4vvbw3ikmqhketr4wmu

Rotational Projection Statistics for 3D Local Surface Description and Object Recognition

Yulan Guo, Ferdous Sohel, Mohammed Bennamoun, Min Lu, Jianwei Wan
2013 International Journal of Computer Vision  
Recognizing 3D objects in the presence of noise, varying mesh resolution, occlusion and clutter is a very challenging task.  ...  It has three major modules: Local Reference Frame (LRF) definition, RoPS feature description and 3D object recognition.  ...  The authors also acknowledge A. Zaharescu from Aimetis Corporation for the results on the PHOTOMESH Dataset shown in Tables 3 and 4.  ... 
doi:10.1007/s11263-013-0627-y fatcat:6ug4scszbngj7itgzghvffdera
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