The paper explores a view-based approach to recognize free-form objects in range images. We are using a set of local features that are easy to calculate and robust to partial occlusions. By combining those features in a multidimensional histogram, we can obtain highly discriminant classifiers without the need for segmentation. Recognition is performed using either histogram matching or a probabilistic recognition algorithm. We compare the performance of both methods in the presence of occlusions and test the system on a database of almost 2000 full-sphere views of 30 free-form objects. The system achieves a recognition accuracy above 93% on ideal images, and of 89% with 20% occlusion.


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    Title :

    3D object recognition from range images using local feature histograms


    Contributors:
    Hetzel, G. (author) / Leibe, B. (author) / Levi, P. (author) / Schiele, B. (author)


    Publication date :

    2001-01-01


    Size :

    729156 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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