Three-dimensional object recognition and posture calculations based on the whitening transformation and curvature characteristics

doi:10.16511/j.cnki.qhdxxb.2016.22.033

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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°.

Keywords object recognition affine invariant whitening transformation curvature posture calculation

ZTFLH:

TP391.41

Issue Date: 15 October 2016

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	ZHENG Jun
	WEI Haiyong

Cite this article:

ZHENG Jun,WEI Haiyong. Three-dimensional object recognition and posture calculations based on the whitening transformation and curvature characteristics[J]. Journal of Tsinghua University(Science and Technology), 2016, 56(10): 1025-1030.

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http://jst.tsinghuajournals.com/EN/10.16511/j.cnki.qhdxxb.2016.22.033 OR http://jst.tsinghuajournals.com/EN/Y2016/V56/I10/1025

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