CSDM: Fusion of orthographic contour signature and distribution matrix for 3D object global representation and object recognition

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	CSDM: Fusion of orthographic contour signature and distribution matrix for 3D object global representation and object recognition
	Zhou WJ(周维佳)1; Luo HT(骆海涛)1; Fu ML(付明亮)1; Zou Y(邹运); Liu H(刘浩); Zhou YY(周圆圆); Han JD(韩建达)
	2017
会议名称	2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
会议日期	December 5-8, 2017
会议地点	Macau, China
关键词	global feature descriptor point cloud projection statistics object recognition
页码	2395-2400
通讯作者	Fu ML(付明亮)
中文摘要	This paper presents a novel global object descriptor, achieving a balance of descriptiveness, robustness and efficiency. The proposed descriptor forms a comprehensive description of an object instance by encoding projection statistics in terms of contour signature and distribution matrix (CSDM). To generate a CSDM descriptor, a local reference frame is defined to align the object's point cloud with the canonical coordinate system. After that, the sub-histogram of contour signature and distribution matrix can be determined from orthographic 2D projected patterns. Finally, a CSDM descriptor is generated with a concatenation of sub-histogram. In recognition stage, a two-stage comparison metric is designed to eliminate information redundancy. A comprehensive performance evaluation in terms of scalability, descriptiveness, robustness and efficiency is performed on the publicly available dataset. Experimental results show that the performance of CSDM descriptor is comparable with the other two state-of-the-art descriptors.
收录类别	EI
产权排序	1
会议主办者	Beijing Institute of Technology; City University of Hong Kong; IEEE Robotics and Automation Society; Shenzhen Academy of Robotics; University of Hong Kong; University of Macau
会议录	Proceedings of the 2017 IEEE International Conference on Robotics and Biomimetics
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-5386-3741-8
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/22173]
专题	沈阳自动化研究所_机器人学研究室
作者单位	1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 2.Chinese Academy of Sciences, Shenyang, China
推荐引用方式 GB/T 7714	Zhou WJ,Luo HT,Fu ML,et al. CSDM: Fusion of orthographic contour signature and distribution matrix for 3D object global representation and object recognition[C]. 见:2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017. Macau, China. December 5-8, 2017.