Detecting Objects in Scene Point Cloud: A Combinational Approach

Jing Huang, Suya You
2013 2013 International Conference on 3D Vision  
Object detection is a fundamental task in computer vision. As the 3D scanning techniques become popular, directly detecting objects through 3D point cloud of a scene becomes an immediate need. We propose an object detection framework combining learning-based classification, local descriptor, a new variance of RANSAC imposing rigid-body constraint and an iterative process for multiobject detection in continuous point clouds. The framework not only takes global and local information into account,
more » ... ation into account, but also benefits from both learning and empirical methods. The experiments performed on the challenging ground Lidar dataset show the effectiveness of our method.
doi:10.1109/3dv.2013.31 dblp:conf/3dim/HuangY13 fatcat:txhfr2zbjbflfeqskx34ekjbwa