3D Object Recognition and Registration Using Minimalist Descriptors
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Authors
Wiseman, Alexandra
Date
Type
thesis
Language
eng
Keyword
Computer Vision , Pattern Recognition , Object Recognition , Registration , 3D Range Image Processing
Alternative Title
Abstract
This thesis presents a novel minimalist descriptor for 3D object recognition and registration problems called 3DLD (3D line descriptors). Building off of previous work on multiple point descriptors, this thesis introduces the first descriptor to apply lines to both of these problems. Each 3DLD is based on the depth information obtained between two 3D points. An efficient indexing scheme using multiple hash maps is introduced to efficiently retrieve the descriptors. From experimentation, 3DLD are very effective in both registration and recognition problems - achieving near perfect true positive rates in many of the tests. Particularly, on complex data, with cluttered and occluded scenes, 3DLD can provide superior efficiency.
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Citation
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License
CC0 1.0 Universal
Queen's University's Thesis/Dissertation Non-Exclusive License for Deposit to QSpace and Library and Archives Canada
ProQuest PhD and Master's Theses International Dissemination Agreement
Intellectual Property Guidelines at Queen's University
Copying and Preserving Your Thesis
This publication is made available by the authority of the copyright owner solely for the purpose of private study and research and may not be copied or reproduced except as permitted by the copyright laws without written authority from the copyright owner.
Queen's University's Thesis/Dissertation Non-Exclusive License for Deposit to QSpace and Library and Archives Canada
ProQuest PhD and Master's Theses International Dissemination Agreement
Intellectual Property Guidelines at Queen's University
Copying and Preserving Your Thesis
This publication is made available by the authority of the copyright owner solely for the purpose of private study and research and may not be copied or reproduced except as permitted by the copyright laws without written authority from the copyright owner.