Using spin images for efficient object recognition in cluttered 3D scenes - Robotics Institute Carnegie Mellon University

Using spin images for efficient object recognition in cluttered 3D scenes

Journal Article, IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 21, No. 5, pp. 433 - 449, May, 1999

Abstract

We present a 3D shape-based object recognition system for simultaneous recognition of multiple objects in scenes containing clutter and occlusion. Recognition is based on matching surfaces by matching points using the spin image representation. The spin image is a data level shape descriptor that is used to match surfaces represented as surface meshes. We present a compression scheme for spin images that results in efficient multiple object recognition which we verify with results showing the simultaneous recognition of multiple objects from a library of 20 models. Furthermore, we demonstrate the robust performance of recognition in the presence of clutter and occlusion through analysis of recognition trials on 100 scenes.

BibTeX

@article{Johnson-1999-14920,
author = {Andrew Johnson and Martial Hebert},
title = {Using spin images for efficient object recognition in cluttered 3D scenes},
journal = {IEEE Transactions on Pattern Analysis and Machine Intelligence},
year = {1999},
month = {May},
volume = {21},
number = {5},
pages = {433 - 449},
}