A method of 3D object recognition and localization in a cloud of points

Jerzy Bielicki , Robert Sitnik


The proposed method given in this article is prepared for analysis of data in the form of cloud of points directly from 3D measurements. It is designed for use in the end-user applications that can directly be integrated with 3D scanning software. The method utilizes locally calculated feature vectors (FVs) in point cloud data. Recognition is based on comparison of the analyzed scene with reference object library. A global descriptor in the form of a set of spatially distributed FVs is created for each reference model. During the detection process, correlation of subsets of reference FVs with FVs calculated in the scene is computed. Features utilized in the algorithm are based on parameters, which qualitatively estimate mean and Gaussian curvatures. Replacement of differentiation with averaging in the curvatures estimation makes the algorithm more resistant to discontinuities and poor quality of the input data. Utilization of the FV subsets allows to detect partially occluded and cluttered objects in the scene, while additional spatial information maintains false positive rate at a reasonably low level.
Author Jerzy Bielicki (FM / IMPh)
Jerzy Bielicki,,
- The Institute of Micromechanics and Photonics
, Robert Sitnik (FM / IMPh)
Robert Sitnik,,
- The Institute of Micromechanics and Photonics
Journal seriesEURASIP Journal on Advances in Signal Processing, ISSN 1687-6172
Issue year2013
Publication size in sheets0.6
Keywords in English3D object recognition, Point cloud
ASJC Classification2208 Electrical and Electronic Engineering; 1708 Hardware and Architecture; 1711 Signal Processing
Languageen angielski
Score (nominal)25
Score sourcejournalList
ScoreMinisterial score = 25.0, 19-06-2020, ArticleFromJournal
Ministerial score (2013-2016) = 25.0, 19-06-2020, ArticleFromJournal
Publication indicators WoS Citations = 3; Scopus Citations = 2; GS Citations = 11.0; Scopus SNIP (Source Normalised Impact per Paper): 2013 = 1.114; WoS Impact Factor: 2013 = 0.808 (2) - 2013=1.015 (5)
Citation count*11 (2020-05-31)
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* presented citation count is obtained through Internet information analysis and it is close to the number calculated by the Publish or Perish system.
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