Abstract
This paper presents a novel recognition algorithm of a 3D object in point clouds based on Local Spherical harmonics. In the proposed algorithm, the 3D point cloud of an object is decomposed into a set of local fields which constitute an orthogonal basis of expansion coefficients by Spherical Harmonic Expansion. The similarity between any corresponding local fields from two objects is expressed by a Euclidean distance between their expansion coefficients. The proposed algorithm aims to, provide a method to solve the problem of incomplete point cloud recognition. Our algorithm outperforms the existing approaches including Iterative Closest Point (ICP) and Discriminant Shape Primitives (DSP) with a recognition rate of 95.1% on the extension of Princeton Shape Benchmark and it has achieved a recognition rate of 92.9% on the extension of UWA Data-set.
| Original language | English |
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| Title of host publication | Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019 |
| Number of pages | 6 |
| Publisher | IEEE |
| Publication date | 2019 |
| Pages | 1041-1046 |
| Article number | 8816499 |
| ISBN (Print) | 978-1-7281-1698-3 |
| ISBN (Electronic) | 978-1-7281-1699-0 |
| DOIs | |
| Publication status | Published - 2019 |
| Event | 2019 IEEE International Conference on Mechatronics and Automation (ICMA) - Tianjin, China Duration: 4 Aug 2019 → 7 Aug 2019 |
Conference
| Conference | 2019 IEEE International Conference on Mechatronics and Automation (ICMA) |
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| Country/Territory | China |
| City | Tianjin |
| Period | 04/08/2019 → 07/08/2019 |
Keywords
- 3D point clouds
- Local Spherical harmonics
- Peg-in-Hole
- Recognition