Scale-Invariant Vote-Based 3D Recognition and Registration from Point Clouds
2013
This chapter presents a method for vote-based 3D shape recognition and registration, in particular using mean shift on 3D pose votes in the space of direct similarity transformations for the first time. We introduce a new distance between poses in this space—the SRT distance. It is left-invariant, unlike Euclidean distance, and has a unique, closed-form mean, in contrast to Riemannian distance, so is fast to compute. We demonstrate improved performance over the state of the art in both recognition and registration on a (real and) challenging dataset, by comparing our distance with others in a mean shift framework, as well as with the commonly used Hough voting approach.
Keywords:
- Correction
- Source
- Cite
- Save
- Machine Reading By IdeaReader
53
References
0
Citations
NaN
KQI