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Hough-space-based hypothesis generation and hypothesis verification for 3D object recognition and 6D pose estimation
Zhou, Wei1,2,3,4; Ma, Caiwen(马彩文)1; Kuijper, Arjan3,4; Zhou, Wei (zhouwei1@opt.cn)
Department光电测量技术实验室
2018-05
Source PublicationComputers and Graphics (Pergamon)
ISSN00978493
Volume72Pages:122-134
Contribution Rank1
Abstract

Hypothesis Generation (HG) and Hypothesis Verification (HV) play an important role in 3D objection recognition. However, performing 3D object recognition in cluttered scenes using HG and HV still remains a largely unsolved problem. High False Positive (FP) in HG and HV stages are witnessed due to clutter and occlusion, which will further affect the final accuracy of recognition. To address these problems, we propose a novel Hough-space-based HG approach for extracting hypotheses. Differently from the existing methods, our approach is based on a Hough space which adopts a self-adapted measure to generate hypotheses. Based on this, a novel HV-based method is proposed to verify the hypotheses obtained from HG procedures. The proposed method is evaluated on four public benchmark datasets to verify its performance. Experiments show that our approach outperforms state-of-the-art methods, and obtains a higher recognition rate without sacrificing precision both at high FP rates and high occlusion rates. © 2018 Elsevier Ltd

DOI10.1016/j.cag.2018.01.011
Indexed BySCI ; EI
Language英语
WOS IDWOS:000431158300012
EI Accession Number20181104901578
Citation statistics
Document Type期刊论文
Identifierhttp://ir.opt.ac.cn/handle/181661/29996
Collection光电测量技术实验室
Corresponding AuthorZhou, Wei (zhouwei1@opt.cn)
Affiliation1.Xi'an Institute of Optics and Precision Mechanics of CAS, Xi'an; Shaanxi; 710119, China
2.University of Chinese Academy of Sciences, Beijing; 100049, China
3.Fraunhofer IGD, Darmstadt; 64283, Germany
4.TU Darmstadt, Darmstadt; 64283, Germany
Recommended Citation
GB/T 7714
Zhou, Wei,Ma, Caiwen,Kuijper, Arjan,et al. Hough-space-based hypothesis generation and hypothesis verification for 3D object recognition and 6D pose estimation[J]. Computers and Graphics (Pergamon),2018,72:122-134.
APA Zhou, Wei,Ma, Caiwen,Kuijper, Arjan,&Zhou, Wei .(2018).Hough-space-based hypothesis generation and hypothesis verification for 3D object recognition and 6D pose estimation.Computers and Graphics (Pergamon),72,122-134.
MLA Zhou, Wei,et al."Hough-space-based hypothesis generation and hypothesis verification for 3D object recognition and 6D pose estimation".Computers and Graphics (Pergamon) 72(2018):122-134.
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