Object Sorting Using a Global Texture-Shape 3D Feature Descriptor
Object recognition and grasping plays a key role in robotic systems, especially for the autonomous robots to implement object sorting tasks in a warehouse. In this paper, we present a global texture-shape 3D feature descriptor which can be utilized in a system of object recognition and grasping, and can perform object sorting tasks well. Our proposed descriptor stems from the clustered viewpoint feature histogram (CVFH), which relies on the geometrical information of the whole 3D object surface only, and can not perform well in recognizing the objects with similar geometrical information. Therefore, we extend the CVFH descriptor with texture and color information to generate a new global 3D feature descriptor. The proposed descriptor is evaluated in tasks of recognizing and classifying 3D objects by applying multi-class support vector machines (SVM) in both public 3D image dataset and real scenes. The results of evaluation show that the proposed descriptor achieves a significant better performance for object recognition compared with the original CVFH. Then, the proposed descriptor is applied in our object recognition and grasping system, showing that the proposed descriptor helps the system implement the object recognition, object grasping and object sorting tasks well.
Code (0)
등록된 구현이 없습니다.
Tasks
ObjectObject DetectionObject RecognitionSimilar Papers 제목 키워드 기반
Visual Anagrams Reveal Hidden Differences in Holistic Shape Processing Across Vision Models
Humans are able to recognize objects based on both local texture cues and the configuration of object parts, yet contemporary vision models primarily harvest local texture cues, yielding brittle, non-compositional featur…
Does resistance to style-transfer equal Global Shape Bias? Measuring network sensitivity to global shape configuration
Deep learning models are known to exhibit a strong texture bias, while human tends to rely heavily on global shape structure for object recognition. The current benchmark for evaluating a model's global shape bias is a s…
Image ClassificationObject RecognitionSelf-Supervised LearningSensitivity+2Teaching CNNs to mimic Human Visual Cognitive Process & regularise Texture-Shape bias
Recent experiments in computer vision demonstrate texture bias as the primary reason for supreme results in models employing Convolutional Neural Networks (CNNs), conflicting with early works claiming that these networks…
Object RecognitionPISR: Polarimetric Neural Implicit Surface Reconstruction for Textureless and Specular Objects
Neural implicit surface reconstruction has achieved remarkable progress recently. Despite resorting to complex radiance modeling, state-of-the-art methods still struggle with textureless and specular surfaces. Different …
Surface ReconstructionIn-Hand 3D Object Scanning from an RGB Sequence
We propose a method for in-hand 3D scanning of an unknown object with a monocular camera. Our method relies on a neural implicit surface representation that captures both the geometry and the appearance of the object, ho…
global-optimizationNeRFObject