利用單張深度影像的三維物體定位與姿態估測

郭皓淵

doi:10.6843/NTHU.2014.00637

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利用單張深度影像的三維物體定位與姿態估測

3D Object Detection and Pose Estimation from a Depth Image

郭皓淵 , Masters　　Advisor：賴尚宏　　

英文 DOI： 10.6843/NTHU.2014.00637

物體偵測；姿態估測；立體物件； Object Detection ； Pose Estimation ； 3D object

Abstract │ Reference (34) │ Altmetrics

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In this thesis, we propose a system for automatic object detection and pose estimation from a single depth map containing multiple objects for robot applications. The proposed object detection algorithm is based on matching the keypoints extracted from the depth image by using the proposed geometry-based RANSAC algorithm with the FPFH descriptor.
The keypoint detection method used in this work is extended from the 2D Harris corner detector to the 3D Harris corner detector. Then, similar corresponding points with FPFH feature are extracted based on their distance. The proposed geometry-based RANSAC algorithm integrates the characteristics of the geometry to choose the inliers from similar corresponding points. In the proposed system, we combine the keypoint detection and the geometry-based RANSAC algorithm to detect the objects, followed by the ICP algorithm to refine the 3D object alignment. We exploit the corresponding points to calculate the rigid transformation for pose estimation.
In the experimental results, simulated and real world depth data are shown to demonstrate the accuracy of pose estimation by using the proposed system.

Reference ( 34 ) 〈TOP〉

[1] A. Patterson, P. Mordohai and K. Daniilidis, “Object Detection from Large-Scale 3D Datasets using Bottom-up and Top- down Descriptors,” ECCV 2008.
連結：
[2] A. Frome, D. Huber, R. Kolluri, T. Bulow, and J. Malik, “Recognizing Objects in Range Data Using Regional Point Descriptors,” ECCV 2004.
連結：
[3] H. Yokoyama, H. Date, S. Kanai and H. Takeda,” Detection and Classiﬁcation of Pole- like Objects from Mobile Laser Scanning Data of Urban Environments,” ACDDE 2012.
連結：
[4] M. Lehtomaki, A. Jaakkola, J. Hyypp ¨ a, A. Kukko, H. Kaartinen, “Detection of Vertical Pole- Like Objects in a Road Environment Using Vehicle- Based Laser Scanning Data,” Remote Sensing 2010.
連結：
[5] B. Steder, G. Grisetti, M. V. Loock and W. Burgard, ” Robust On-line Model-based Object Detection from Range Images,” IROS 2009.
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