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Generation and Optimization of Local Shape Descriptors for Point Matching in 3-D Surfaces

We formulate Local Shape Descriptor selection for model-based object recognition in range data as an optimization problem and offer a platform that facilitates a solution. The goal of object recognition is to identify and localize objects of interest in an image. Recognition is often performed in three phases: point matching, where correspondences are established between points on the 3-D surfaces of the models and the range image; hypothesis generation, where rough alignments are found between the image and the visible models; and pose refinement, where the accuracy of the initial alignments is improved. The overall efficiency and reliability of a recognition system is highly influenced by the effectiveness of the point matching phase. Local Shape Descriptors are used for establishing point correspondences by way of encapsulating local shape, such that similarity between two descriptors indicates geometric similarity between their respective neighbourhoods.
We present a generalized platform for constructing local shape descriptors that subsumes a large class of existing methods and allows for tuning descriptors to the geometry of specific models and to sensor characteristics. Our descriptors, termed as Variable-Dimensional Local Shape Descriptors, are constructed as multivariate observations of several local properties and are represented as histograms. The optimal set of properties, which maximizes the performance of a recognition system, depend on the geometry of the objects of interest and the noise characteristics of range image acquisition devices and is selected through pre-processing the models and sample training images. Experimental analysis confirms the superiority of optimized descriptors over generic ones in recognition tasks in LIDAR and dense stereo range images. / Thesis (Ph.D, Electrical & Computer Engineering) -- Queen's University, 2009-09-01 11:07:32.084

Identiferoai:union.ndltd.org:LACETR/oai:collectionscanada.gc.ca:OKQ.1974/5107
Date01 September 2009
CreatorsTaati, BABAK
ContributorsQueen's University (Kingston, Ont.). Theses (Queen's University (Kingston, Ont.))
Source SetsLibrary and Archives Canada ETDs Repository / Centre d'archives des thèses électroniques de Bibliothèque et Archives Canada
LanguageEnglish, English
Detected LanguageEnglish
TypeThesis
Format1318072 bytes, application/pdf
RightsThis publication is made available by the authority of the copyright owner solely for the purpose of private study and research and may not be copied or reproduced except as permitted by the copyright laws without written authority from the copyright owner.
RelationCanadian theses

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