Reconnaissance d’objets 3D par points d’intérêt

Abstract : There has been strong research interest in 3D object recognition over the last decade, due to the promising reliability of the 3D acquisition techniques. 3D recognition, however, conveys several issues related to the amount of information, to scales and viewpoints variation, to occlusions and to noise.In this context, our objective is to recognize an isolated object given in a request view, from a training database containing some views of this object. Our idea is to propose a local method that combines some existent approaches in order to improve recognition performance.We opted for an interest points (IPs) method based on local shape variation measures. Our selection of salient points is done by the combination of two surface classification spaces: the SC space (Shape Index-Curvedness), and the HK space (Mean curvature- Gaussian curvature).In description phase of the extracted set of points, we propose a histogram based signature, in which we join information about the relationship between the reference point normal and normals of its neighbors, with information about the shape index values of this neighborhood. Performed experiments allowed us to evaluate quantitatively the stability and the robustness of the new proposed detectors and descriptors.Finally we evaluate, on several public 3D objects databases, the recognition rate attained by our method, which outperforms existing techniques on same databases.
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Submitted on : Tuesday, October 8, 2013 - 5:12:08 PM
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Ayet Shaiek. Reconnaissance d’objets 3D par points d’intérêt. Autre [cs.OH]. Ecole Nationale Supérieure des Mines de Paris, 2013. Français. ⟨NNT : 2013ENMP0011⟩. ⟨pastel-00871080⟩

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