Laser & Optoelectronics Progress, Volume. 60, Issue 12, 1210020(2023)
3D Recognition Algorithm Based on Curvature Point Pair Features
Figures & Tables(17)
Fig. 4. Curvature and curvature histogram of buddha. (a) Curvature of buddha; (b) curvature histogram of buddha
Fig. 7. Matching effect of four algorithms. (a) Original PPF algorithm; (b) S-ICP algorithm; (c) curvature difference PPF algorithm; (d) curvature difference PPF algorithm with ICP
Fig. 8. Matching effect of four algorithms. (a) Original PPF algorithm; (b) S-ICP algorithm; (c) curvature difference PPF algorithm;(d) curvature difference PPF algorithm with ICP
Fig. 9. Process of scene segmentation. (a) Point cloud of scene; (b) grayscale image of point cloud mapping; (c) watershed segmentation; (d) candidate target
Fig. 10. Matching effect of four algorithms. (a) Original PPF algorithm; (b) S-ICP algorithm; (c) curvature difference PPF algorithm; (d) curvature difference PPF algorithm with ICP
Fig. 11. Intermediate result of point pair matching. (a) A point pair in scene; (b) original PPF algorithm; (c) curvature difference PPF algorithm
Table 1. Comparison of matching rates of algorithms
View tableTable 1. Comparison of matching rates of algorithms
Algorithm armadillo buddha bunny dragon chinese_dragon statuette Average PPF 86.40 90.25 91.93 92.78 85.90 84.91 88.70 S-ICP 98.67 92.03 97.79 93.94 97.61 94.69 95.79 Proposed algorithm 93.61 91.26 95.08 95.92 87.95 89.89 92.29 Proposed algorithm+ICP 98.96 96.01 98.19 97.83 97.86 96.85 97.62
Table 2. Comparison of matching time of algorithms
View tableTable 2. Comparison of matching time of algorithms
Algorithm armadillo buddha bunny dragon chinese_dragon statuette Average PPF 0.301 0.775 0.136 0.712 0.828 0.934 0.614 S-ICP 0.411 0.542 0.536 0.797 0.498 0.576 0.560 Proposed algorithm 0.142 0.178 0.085 0.511 0.108 0.457 0.247 Proposed algorithm+ ICP 0.160 0.216 0.101 0.529 0.126 0.473 0.268
Table 3. Comparison of matching rates of algorithms
View tableTable 3. Comparison of matching rates of algorithms
Algorithm buddha bunny statuette Average PPF 89.58 83.50 82.45 85.18 S-ICP 93.24 93.98 94.64 93.95 Proposed algorithm 91.81 93.31 94.18 93.10 Proposed algorithm+ICP 96.17 96.23 96.22 96.21
Table 4. Comparison of matching time of algorithms
View tableTable 4. Comparison of matching time of algorithms
Algorithm buddha bunny statuette Average PPF 0.721 0.091 1.077 0.630 S-ICP 0.633 0.463 0.875 0.657 Proposed algorithm 0.254 0.044 0.470 0.256 Proposed algorithm+ICP 0.278 0.067 0.537 0.294
Table 5. Comparison of matching rates of algorithms
View tableTable 5. Comparison of matching rates of algorithms
Algorithm （1） （2） （3） （4） （5） （6） Average PPF 80.62 57.09 78.54 80.91 84.21 86.05 77.90 S-ICP 94.37 92.22 92.86 91.39 91.94 93.49 92.71 Proposed algorithm 89.72 88.43 91.94 84.33 87.85 85.91 88.03 Proposed algorithm+ICP 95.92 95.60 96.34 91.64 94.73 94.32 94.76
Table 6. Comparison of matching time of algorithms
View tableTable 6. Comparison of matching time of algorithms
Algorithm PPF S-ICP Proposed algorithm Proposed algorithm+ICP Total time 9.908 8.368 4.815 5.311
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Menghui Yu, Xining Cui, Linqigao Wu, Shiqian Wu. 3D Recognition Algorithm Based on Curvature Point Pair Features[J]. Laser & Optoelectronics Progress, 2023, 60(12): 1210020
Paper Information
Category: Image Processing
Received: Apr. 6, 2022
Accepted: Jul. 14, 2022
Published Online: Jun. 5, 2023
The Author Email: Shiqian Wu (shiqian.wu@wust.edu.cn)
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