Efficient 3D Objects Recognition Using Multifoveated Point Clouds

Sensors
Fabio F OliveiraLuiz Marcos Garcia Gonçalves

Abstract

Technological innovations in the hardware of RGB-D sensors have allowed the acquisition of 3D point clouds in real time. Consequently, various applications have arisen related to the 3D world, which are receiving increasing attention from researchers. Nevertheless, one of the main problems that remains is the demand for computationally intensive processing that required optimized approaches to deal with 3D vision modeling, especially when it is necessary to perform tasks in real time. A previously proposed multi-resolution 3D model known as foveated point clouds can be a possible solution to this problem. Nevertheless, this is a model limited to a single foveated structure with context dependent mobility. In this work, we propose a new solution for data reduction and feature detection using multifoveation in the point cloud. Nonetheless, the application of several foveated structures results in a considerable increase of processing since there are intersections between regions of distinct structures, which are processed multiple times. Towards solving this problem, the current proposal brings an approach that avoids the processing of redundant regions, which results in even more reduced processing time. Such approach can be use...Continue Reading

References

Oct 7, 2004·IEEE Transactions on Image Processing : a Publication of the IEEE Signal Processing Society·Laurent Itti
Feb 2, 2008·IEEE Transactions on Image Processing : a Publication of the IEEE Signal Processing Society·Zhou WangAlan Conrad Bovik
Dec 24, 2013·The Neuroscientist : a Review Journal Bringing Neurobiology, Neurology and Psychiatry·Fumi Katsuki, Christos Constantinidis

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Citations

Sep 19, 2018·Sensors·Elizabeth V CabreraLuiz M G Gonçalves
Mar 15, 2020·Sensors·Andouglas Gonçalves da Silva JuniorLuiz Marcos Garcia Gonçalves
Jan 23, 2021·Sensors·Luis E Ortiz-FernandezLuiz M G Gonçalves

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Methods Mentioned

BETA
RGBD
feature extraction

Software Mentioned

Point Clouds Library ( PCL )
SHOT
PCL

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