English  |  正體中文  |  简体中文  |  全文筆數/總筆數 : 58317/91854 (63%)
造訪人次 : 14029788      線上人數 : 104
RC Version 7.0 © Powered By DSPACE, MIT. Enhanced by NTU Library & TKU Library IR team.
搜尋範圍 查詢小技巧:
  • 您可在西文檢索詞彙前後加上"雙引號",以獲取較精準的檢索結果
  • 若欲以作者姓名搜尋,建議至進階搜尋限定作者欄位,可獲得較完整資料
  • 進階搜尋
    請使用永久網址來引用或連結此文件: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/115540


    題名: Simultaneous 3D Object Recognition and Pose Estimation Based on RGB-D Images
    作者: Tsai, Chi-Yi;Tsai, Shu-Hsiang
    日期: 2018-02-20
    上傳時間: 2018-11-08 12:11:12 (UTC+8)
    出版者: IEEE
    摘要: Object recognition and pose estimation are essential functions in applications of computer vision, and they also are fundamental modules in robotic vision systems. In recent years, RGB-D cameras become more and more popular, and the 3D object recognition technology has got more and more attention. In this paper, a novel design of simultaneous 3D object recognition and pose estimation algorithm is proposed based on RGB-D images. The proposed system converts the input RGB-D image to colored point cloud data and extracts features of the scene from the colored point cloud. Then, the existing color signature of histograms of orientations (CSHOT) description algorithm is employed to build descriptors of the detected features based on local texture and shape information. Given the extracted feature descriptors, a two-stage matching process is performed to find correspondences between the scene and a colored point cloud model of an object. Next, a Hough voting algorithm is used to filter out matching errors in the correspondence set and estimate the initial 3D pose of the object. Finally, the pose estimation stage employs RANdom SAmple Consensus (RANSAC) and hypothesis verification algorithms to refine the initial pose and filter out poor estimation results with error hypotheses. Experimental results show that the proposed system not only successfully recognizes the object in a complex scene but also accurately estimates the 3D pose information of the object with respect to the camera.
    關聯: IEEE Access 6, p.28859-28869
    DOI: 10.1109/ACCESS.2018.2808225
    顯示於類別:[電機工程學系暨研究所] 期刊論文

    文件中的檔案:

    檔案 描述 大小格式瀏覽次數
    index.html0KbHTML113檢視/開啟
    Simultaneous 3D Object Recognition and Pose Estimation Based on RGB-D Images.pdf1920KbAdobe PDF1檢視/開啟

    在機構典藏中所有的資料項目都受到原著作權保護.

    TAIR相關文章

    DSpace Software Copyright © 2002-2004  MIT &  Hewlett-Packard  /   Enhanced by   NTU Library & TKU Library IR teams. Copyright ©   - 回饋