Model globally, match locally: Efficient and robust 3D object recognition

Bertram Drost, Markus Ulrich, Nassir Navab, Slobodan Ilic

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

907 Scopus citations

Abstract

This paper addresses the problem of recognizing free-form 3D objects in point clouds. Compared to traditional approaches based on point descriptors, which depend on local information around points, we propose a novel method that creates a global model description based on oriented point pair features and matches that model locally using a fast voting scheme. The global model description consists of all model point pair features and represents a mapping from the point pair feature space to the model, where similar features on the model are grouped together. Such representation allows using much sparser object and scene point clouds, resulting in very fast performance. Recognition is done locally using an efficient voting scheme on a reduced two-dimensional search space. We demonstrate the efficiency of our approach and show its high recognition performance in the case of noise, clutter and partial occlusions. Compared to state of the art approaches we achieve better recognition rates, and demonstrate that with a slight or even no sacrifice of the recognition performance our method is much faster then the current state of the art approaches.

Original languageEnglish
Title of host publication2010 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, CVPR 2010
Pages998-1005
Number of pages8
DOIs
StatePublished - 2010
Event2010 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, CVPR 2010 - San Francisco, CA, United States
Duration: 13 Jun 201018 Jun 2010

Publication series

NameProceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition
ISSN (Print)1063-6919

Conference

Conference2010 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, CVPR 2010
Country/TerritoryUnited States
CitySan Francisco, CA
Period13/06/1018/06/10

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