Using Spin Images for Efficient Object Recognition in Cluttered 3D Scenes

We present a 3D shape-based object recognition system for simultaneous recognition of multiple objects in scenes containing clutter and occlusion. Recognition is based on matching surfaces by matching points using the spin image representation. The spin image is a data level shape descriptor that is used to match surfaces represented as surface meshes. We present a compression scheme for spin images that results in efficient multiple object recognition which we verify with results showing the simultaneous recognition of multiple objects from a library of 20 models. Furthermore, we demonstrate the robust performance of recognition in the presence of clutter and occlusion through analysis of recognition trials on 100 scenes.

[1]  Keinosuke Fukunaga,et al.  Introduction to Statistical Pattern Recognition , 1972 .

[2]  M. Hebert,et al.  The Representation, Recognition, and Locating of 3-D Objects , 1986 .

[3]  Wolfgang Spohn,et al.  The Representation of , 1986 .

[4]  W. Eric L. Grimson,et al.  Localizing Overlapping Parts by Searching the Interpretation Tree , 1987, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[5]  Yehezkel Lamdan,et al.  Geometric Hashing: A General And Efficient Model-based Recognition Scheme , 1988, [1988 Proceedings] Second International Conference on Computer Vision.

[6]  F. A. Seiler,et al.  Numerical Recipes in C: The Art of Scientific Computing , 1989 .

[7]  Keinosuke Fukunaga,et al.  Introduction to statistical pattern recognition (2nd ed.) , 1990 .

[8]  Gérard G. Medioni,et al.  Structural Indexing: Efficient 3-D Object Recognition , 1992, IEEE Trans. Pattern Anal. Mach. Intell..

[9]  William H. Press,et al.  The Art of Scientific Computing Second Edition , 1998 .

[10]  Anil K. Jain,et al.  Recognizing geons from superquadrics fitted to range data , 1992, Image Vis. Comput..

[11]  Katsushi Ikeuchi,et al.  The Complex EGI: A New Representation for 3-D Pose Determination , 1993, IEEE Trans. Pattern Anal. Mach. Intell..

[12]  Jake K. Aggarwal,et al.  CAD-based vision: object recognition in cluttered range images using recognition strategies , 1993 .

[13]  Katsushi Ikeuchi,et al.  A spherical representation for the recognition of curved objects , 1993, 1993 (4th) International Conference on Computer Vision.

[14]  Gabriel Taubin.  Discrete Surface Signal Processing: The Polygon as the Surface Element , 1994, Object Representation in Computer Vision.

[15]  Martial Hebert,et al.  Object Representation in Computer Vision , 1994, Lecture Notes in Computer Science.

[16]  Paul J. Besl.  Triangles as a Primary Representation , 1994, Object Representation in Computer Vision.

[17]  Gabriel Taubin,et al.  A signal processing approach to fair surface design , 1995, SIGGRAPH.

[18]  Katsushi Ikeuchi,et al.  A Spherical Representation for Recognition of Free-Form Surfaces , 1995, IEEE Trans. Pattern Anal. Mach. Intell..

[19]  Shree K. Nayar,et al.  Closest point search in high dimensions , 1996, Proceedings CVPR IEEE Computer Society Conference on Computer Vision and Pattern Recognition.

[20]  Katsushi Ikeuchi,et al.  Detectability, Uniqueness, and Reliability of Eigen Windows for Stable Verification of Partially Occluded Objects , 1997, IEEE Trans. Pattern Anal. Mach. Intell..

[21]  Andrew E. Johnson,et al.  Spin-Images: A Representation for 3-D Surface Matching , 1997 .

[22]  Chitra Dorai,et al.  COSMOS - A Representation Scheme for 3D Free-Form Objects , 1997, IEEE Trans. Pattern Anal. Mach. Intell..

[23]  Robert Bergevin,et al.  Generalized cylinders extraction in a range image , 1997, Proceedings. International Conference on Recent Advances in 3-D Digital Imaging and Modeling (Cat. No.97TB100134).

[24]  Tapas Kanungo,et al.  Object recognition using appearance-based parts and relations , 1997, Proceedings of IEEE Computer Society Conference on Computer Vision and Pattern Recognition.

[25]  Andrew E. Johnson,et al.  Registration and integration of textured 3-D data , 1997, Proceedings. International Conference on Recent Advances in 3-D Digital Imaging and Modeling (Cat. No.97TB100134).

[26]  Martial Hebert,et al.  Control of Polygonal Mesh Resolution for 3-D Computer Vision , 1998, Graph. Model. Image Process..

[27]  Martial Hebert,et al.  Efficient multiple model recognition in cluttered 3-D scenes , 1998, Proceedings. 1998 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (Cat. No.98CB36231).

[28]  Andrew E. Johnson,et al.  Surface matching for object recognition in complex three-dimensional scenes , 1998, Image Vis. Comput..

[29]  Sing Bing Kang,et al.  Registration and integration of textured 3-D data , 1997, Proceedings. International Conference on Recent Advances in 3-D Digital Imaging and Modeling (Cat. No.97TB100134).