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3D target identification method based on sphere space

A recognition method and a technology of three-dimensional objects, which are applied in three-dimensional object recognition, character and pattern recognition, instruments, etc., can solve problems such as complex calculations and lack of stability, and achieve the effect of improving accuracy

Inactive Publication Date: 2017-10-20
SUZHOU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this method relies too much on the gradient of pixels in local regions, thus lacking stability
Hidden Markov models are another widely used object recognition method, which are effective but computationally complex

Method used

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  • 3D target identification method based on sphere space
  • 3D target identification method based on sphere space
  • 3D target identification method based on sphere space

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Embodiment 1

[0029] Embodiment one: see figure 1 Shown, a kind of three-dimensional object recognition method based on spherical space, described method comprises the following steps:

[0030] S1. Use the depth sensor to obtain the target depth image, and obtain the three-dimensional information of the target, such as figure 2 shown;

[0031] S2. Preprocessing the depth image to filter out part of the noise in the depth image;

[0032] S3, calculating the three-dimensional coordinate parameters of each point of the target image;

[0033] S4. Construct a spherical space, construct a logarithmic polar coordinate histogram according to the target point cloud coordinates, and form a three-dimensional feature descriptor, such as image 3 As shown, from left to right are the three-dimensional information map of the target, the schematic diagram of the spherical space division, and the logarithmic polar coordinate histogram;

[0034] Step S4 specifically includes:

[0035] S41. Directly con...

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Abstract

The invention discloses a 3D target identification method based on a sphere space, comprising the following steps: acquiring a depth image through a depth sensor, and getting 3D information of a target; preprocessing the depth image, and removing part of noise in the depth image; calculating the 3D coordinate parameters of points in a target image; constructing a sphere space, constructing a log-polar histogram according to the point cloud coordinates of the target, and forming a 3D feature descriptor; and calculating the matching degree, and getting the matching degree values between different images. Features of image shape and depth information can be extracted and represented. The method has scale invariance, rotation invariance and translation invariance. The accuracy of identification is improved.

Description

technical field [0001] The invention relates to a three-dimensional object recognition method based on spherical space, belonging to the technical field of shape matching. Background technique [0002] Object recognition is a hot topic in computer vision and plays a key role in human-computer interaction. Its research and development make human-computer interaction more flexible, and make the combination of smart devices and target objects more closely. These smart devices have been applied to all aspects of human life and industrial development, so target recognition algorithms have been extensively studied. [0003] The development of object recognition algorithms has gone through three main periods. The first period is two-dimensional static target recognition, which is also the simplest target recognition, and some simple targets are recognized by obtaining two-dimensional information. This technology can only identify static targets and cannot detect continuous change...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00
CPCG06V20/653
Inventor 杨剑宇朱晨何溢文
Owner SUZHOU UNIV
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