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On the use of the tree structure of depth levels for comparing 3D object views

Bracci, Fabio and Hillenbrand, Ulrich and Marton, Zoltan-Csaba and Wilkinson, Michael H. F. (2017) On the use of the tree structure of depth levels for comparing 3D object views. In: Computer Analysis of Images and Patterns, CAIP 2017, Pt I, 10424, pp. 251-263. Springer. International Conference on Computer Analysis of Images and Patterns 2017, Ystad, Schweden. DOI: 10.1007/978-3-319-64689-3_21

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Abstract

Today the simple availability of 3D sensory data, the evolution of 3D representations, and their application to object recognition and scene analysis tasks promise to improve autonomy and flexibility of robots in several domains. However, there has been little research into what can be gained through the explicit inclusion of the structural relations between parts of objects when quantifying similarity of their shape, and hence for shape-based object category recognition. We propose a Mathematical Morphology inspired hierarchical decomposition of 3D object views into peak components at evenly spaced depth levels, casting the 3D shape similarity problem to a tree of more elementary similarity problems. The matching of these trees of peak components is here compared to matching the individual components through optimal and greedy assignment in a simple feature space, trying to find the maximum-weight-maximal-match assignments. The matching thus achieved provides a metric of total shape similarity between object views. The three matching strategies are evaluated and compared through the category recognition accuracy on objects from a public set of 3D models. It turns out that all three methods yield similar accuracy on the simple features we used, while the greedy method is fastest.

Item URL in elib:https://elib.dlr.de/116791/
Document Type:Conference or Workshop Item (Poster)
Title:On the use of the tree structure of depth levels for comparing 3D object views
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Bracci, FabioFabio.Bracci (at) dlr.deUNSPECIFIED
Hillenbrand, UlrichUlrich.Hillenbrand (at) dlr.deUNSPECIFIED
Marton, Zoltan-CsabaZoltan.Marton (at) dlr.dehttps://orcid.org/0000-0002-3035-493X
Wilkinson, Michael H. F.Johann Bernoulli Institute for Mathematics and Computer Science, University of GroningenUNSPECIFIED
Date:2017
Journal or Publication Title:Computer Analysis of Images and Patterns, CAIP 2017, Pt I
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Volume:10424
DOI :10.1007/978-3-319-64689-3_21
Page Range:pp. 251-263
Publisher:Springer
Series Name:Lecture Notes in Computer Science
Status:Published
Keywords:3D shape similarity, tree matching, mathematical morphology, object recognition, scene analysis
Event Title:International Conference on Computer Analysis of Images and Patterns 2017
Event Location:Ystad, Schweden
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Hillenbrand, Ulrich
Deposited On:08 Dec 2017 08:29
Last Modified:31 Jul 2019 20:14

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