Boosting Object Recognition in Point Clouds by Saliency Detection

11/06/2019
by   Marlon Marcon, et al.
0

Object recognition in 3D point clouds is a challenging task, mainly when time is an important factor to deal with, such as in industrial applications. Local descriptors are an amenable choice whenever the 6 DoF pose of recognized objects should also be estimated. However, the pipeline for this kind of descriptors is highly time-consuming. In this work, we propose an update to the traditional pipeline, by adding a preliminary filtering stage referred to as saliency boost. We perform tests on a standard object recognition benchmark by considering four keypoint detectors and four local descriptors, in order to compare time and recognition performance between the traditional pipeline and the boosted one. Results on time show that the boosted pipeline could turn out up to 5 times faster, with the recognition rate improving in most of the cases and exhibiting only a slight decrease in the others. These results suggest that the boosted pipeline can speed-up processing time substantially with limited impacts or even benefits in recognition accuracy.

READ FULL TEXT
research
05/07/2022

Towards Robust 3D Object Recognition with Dense-to-Sparse Deep Domain Adaptation

Three-dimensional (3D) object recognition is crucial for intelligent aut...
research
08/01/2018

Saliency for Fine-grained Object Recognition in Domains with Scarce Training Data

This paper investigates the role of saliency to improve the classificati...
research
11/27/2020

Towards real-time object recognition and pose estimation in point clouds

Object recognition and 6DoF pose estimation are quite challenging tasks ...
research
08/23/2013

Suspicious Object Recognition Method in Video Stream Based on Visual Attention

We propose a state of the art method for intelligent object recognition ...
research
03/10/2022

Crowd Source Scene Change Detection and Local Map Update

As scene changes with time map descriptors become outdated, affecting VP...
research
05/01/2013

An Adaptive Descriptor Design for Object Recognition in the Wild

Digital images nowadays have various styles of appearance, in the aspect...
research
08/27/2023

Automatic coarse co-registration of point clouds from diverse scan geometries: a test of detectors and descriptors

Point clouds are collected nowadays from a plethora of sensors, some hav...

Please sign up or login with your details

Forgot password? Click here to reset