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

ZHENG Jun; WEI Haiyong

doi:10.16511/j.cnki.qhdxxb.2016.22.033

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Journal of Tsinghua University(Science and Technology) ›› 2016, Vol. 56 ›› Issue (10) : 1025-1030. DOI: 10.16511/j.cnki.qhdxxb.2016.22.033

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

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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°.

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object recognition / affine invariant / whitening transformation / curvature / posture calculation

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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 https://doi.org/10.16511/j.cnki.qhdxxb.2016.22.033

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