In this work we propose a novel Hough voting approach for the detection of free-form shapes in a 3D space, to be used for object recognition tasks in 3D scenes with a significant degree of occlusion and clutter. The proposed method relies on matching 3D features to accumulate evidence of the presence of the objects being sought in a 3D Hough space. We validate our proposal by presenting a quantitative experimental comparison with state-of-the-art methods as well as by showing how our method enables 3D object recognition from real-time stereo data.

Object recognition in 3D scenes with occlusions and clutter by Hough voting

TOMBARI, FEDERICO;DI STEFANO, LUIGI
2010

Abstract

In this work we propose a novel Hough voting approach for the detection of free-form shapes in a 3D space, to be used for object recognition tasks in 3D scenes with a significant degree of occlusion and clutter. The proposed method relies on matching 3D features to accumulate evidence of the presence of the objects being sought in a 3D Hough space. We validate our proposal by presenting a quantitative experimental comparison with state-of-the-art methods as well as by showing how our method enables 3D object recognition from real-time stereo data.
Proceedings of the Fourth Pacific-Rim Symposium on Image and Video Technology
349
355
F. Tombari; L. Di Stefano
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11585/96904
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