Arvid Halma
ABSTRACT
A robust and efficient method is presented for recognizing objects in unstructured 3D point clouds acquired from photos. The method first finds the locations of target objects using single spin image matching and then retrieves the orientation and quality of the match using the iterative closest point (ICP) algorithm. In contrast to classic use of spin images as object descriptors, no vertex surface normals are needed, but a global orientation of the scene is used. This assumption allows for an efficient and robust way to detect objects in unstructured point data.
In our experiments we show that our spin matching approach is capable of detecting cars in a 3D reconstruction from photos.
Moreover, the application of the ICP algorithm afterwards allows us (1) to fit a query model in the scene to retrieve the car's orientation and (2) to distinguish between cars with a similar shape and a different shape using the residual error of the fit. This allows us to locate and recognize different types of cars.
- A. Patterson IV, P. Mordohai, and K. Daniilidis. Object detection from large-scale 3d datasets using bottom-up and top-down descriptors. In European Converence on Computer Vision. European Converence on Computer Vision 2009, October 2008.Google Scholar
Cross Ref
- Yasutaka Furukawa and Jean Ponce. PMVS - Patch based Multi-View Stereo software. http://grail.cs.washington.edu/software/pmvs/.Google Scholar
- Andrew E. Johnson. Spin-Images: A Representation for 3-D Surface Matching. PhD thesis, Carnegie Mellon University, Pittsburgh, Pennsylvania 15213, 1997.Google Scholar
- Andrew E. Johnson and Martial Hebert. Using spin images for efficient object recognition in cluttered 3d scenes. IEEE Transactions on Pattern Analysis and Machine Intelligence, 21(5):433--449, may 1999. Google ScholarDigital Library
- S. Rusinkiewicz and M. Levoy. Efficient Variants of the ICP Algorithm. In 3DIM, pages 145--152, 2001.Google Scholar
- Noah Snavely. Bundler - Structure from Motion software. http://phototour.cs.washington.edu/bundler/.Google Scholar
Index Terms
- Single spin image-ICP matching for efficient 3D object recognition
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