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ID:39715645
大小:5.16 MB
页数:39页
时间:2019-07-09
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1、ObjectRecognition,ClassificationandEvaluationwithPCLNovember6,2011Outline1.Introduction2.ObjectRecognitionwithPCL3.Trainingdata4.Recognition&Pose5.Databases&EvaluationAitorAldoma&WalterWohlkinger/PCL::ObjectRecognition,ClassificationandEvaluationObjectRecognitionCanweusePCLforobjectrecognit
2、ion?visualizationfiltersiooctreesearchsegmentationsample_consensussurfacekeypointsfeaturesAitorAldoma&WalterWohlkinger/PCL::ObjectRecognition,ClassificationandEvaluationObjectRecognitionCanweusePCLforobjectrecognition?Yes,wecanvisualizationfiltersiosearchsegmentationsample_consensussurfacefe
3、aturesAitorAldoma&WalterWohlkinger/PCL::ObjectRecognition,ClassificationandEvaluationObjectRecognitionBuildingaPCLbasedobjectrecognitionappAitorAldoma&WalterWohlkinger/PCL::ObjectRecognition,ClassificationandEvaluationSegmentationpcl::apps::DominantPlaneSegmentationSegmentationofaKinectscen
4、etypedefpcl::PointCloudCloud;std::vector,...>clusters;frame=camera.snap();pcl::apps::DominantPlaneSegmentationdps;dps.setInputCloud(frame);dps.setMaxZBounds(1.0);dps.setObjectMinHeight(0.005);dps.setMinClusterSize(1
5、000);dps.setWSize(3);dps.setDistanceBetweenClusters(0.1);dps.setDownsamplingSize(0.02);dps.compute_fast(clusters);AitorAldoma&WalterWohlkinger/PCL::ObjectRecognition,ClassificationandEvaluationObjectRecognitionWhatelsedoweneed?DescriptorsIEncodewholeobjectwithdescriptor(globally)IVFHICVFHI
6、SHOTISpinImageIShapeContextIShapeDistributionsI...AitorAldoma&WalterWohlkinger/PCL::ObjectRecognition,ClassificationandEvaluationVFHViewpointFeatureHistogramIEncodesthesurfaceoftheobjectandtheviewpointIRelativetothecentroidandtheaverageofthenormalsIEfficienttocomputeAitorAldoma&WalterWohlki
7、nger/PCL::ObjectRecognition,ClassificationandEvaluationFeaturesVFHEstimationinPCL1usingnamespacepcl;2typedefPointCloudCloudXYZ;3typedefPointCloudCloudNormal;4typedefPointCloudVFHSig;5typedefCloudXYZ::PtrCloudXYZPtr;6typedefCloudNorm
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