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3d Geometric Hashing Using Transform Invariant Features

3D object recognition is performed by using geometric hashing where transformation and scale invariant 3D surface features are utilized. 3D features are extracted from object surfaces after a scale space search where size of each feature is also estimated.
Scale space is constructed based on orientation invariant surface curvature values which classify each surface point&#039 / s shape. Extracted features are grouped into triplets and orientation invariant descriptors are defined for each triplet. Each pose of each object is indexed in a hash table using these triplets. For scale invariance matching, cosine similarity is applied for scale variant triple variables. Tests were performed on Stuttgart database where 66 poses of 42 objects are stored in the hash table during training and 258 poses of 42 objects are used during testing. %90.97 recognition rate is achieved.

Identiferoai:union.ndltd.org:METU/oai:etd.lib.metu.edu.tr:http://etd.lib.metu.edu.tr/upload/12610546/index.pdf
Date01 April 2009
CreatorsEskizara, Omer
ContributorsUlusoy, Ilkay
PublisherMETU
Source SetsMiddle East Technical Univ.
LanguageEnglish
Detected LanguageEnglish
TypeM.S. Thesis
Formattext/pdf
RightsTo liberate the content for public access

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