Three-dimensional object recognition and posture calculations based on the whitening transformation and curvature characteristics
ZHENG Jun, WEI Haiyong
Key Laboratory for Advanced Materials Processing Technology of Ministry of Education, Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China
Abstract：The whitening transformation and a U chord curvature are used to improve three-dimensional object recognition and posture calculation. The algorithm first extracts the shape characteristics of the object and then matches the contours of the target image with templates using the whitening transformation so that there is only a rotational relationship between the contour point sets. Then, the U chord curvature is improved to match the contours. Tests show that this method is affine invariant with a fast recognition speed which can reach 58 ms/frame (CPU: 2.3 GHz, RAM: 4 GB), a high recognition rate of 100% without shelter and a high detection accuracy of the posture calculation of 1.5°.
郑军, 魏海永. 基于白化变换及曲率特征的3维物体识别及姿态计算[J]. 清华大学学报（自然科学版）, 2016, 56(10): 1025-1030.
ZHENG Jun, WEI Haiyong. Three-dimensional object recognition and posture calculations based on the whitening transformation and curvature characteristics. Journal of Tsinghua University(Science and Technology), 2016, 56(10): 1025-1030.
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2016, Vol. 56 
