Point Feature Extraction on 3D Range Scans Taking into Account Object Boundaries

摘要：

In this paper we address the topic of feature extraction in 3D point cloud data for object recognition and pose identification. We present a novel interest keypoint extraction method that operates on range images generated from arbitrary 3D point clouds, which explicitly considers the borders of the objects identified by transitions from foreground to background. We furthermore present a feature descriptor that takes the same information into account. We have implemented our approach and present rigorous experiments in which we analyze the individual components with respect to their repeatability and matching capabilities and evaluate the usefulness for point feature based object detection methods.

作者: Bastian Steder Radu Bogdan Rusu Kurt Konolige Wolfram Burgard

作者单位: Dept. of Computer Science of the University of Freiburg,Germany Willow Garage Inc.,USA

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 2601-2608

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）