ICCV2011-recognition

《ICCV2011-recognition 》由会员上传分享，免费在线阅读，更多相关内容在学术论文-天天文库。

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