how to identify an object from the generated point cloud?
point cloud and ros
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Hello,
I had a few shots with VFH features recognitiom which work only on 3d information. Check these pcl tutorials:
Estimating VFH signatures for a set of points
Cluster Recognition and 6DOF Pose Estimation using VFH descriptors
It kind of gives good results, provided that you took enough snapshots from enough viewpoints of your objects during the learning phase.
I noticed that someone pushed it a level farther, by learning objects directly from 3d models and clustering the observed point clouds.
This work is advertised in this video and hosted in the ROS packagevfh_recognition.
As other said, object recognition stays a hard problem.
I hope it helps
Raph
Start with Bayesian Probability, then read about Bayesian Error Rate. From there read about identifying simple properties of an object (such as height). Set a threshold on height, now you have separation. This is the absolute most basic parametric based object recognition algorithm, but it shows you the concepts of probability and error rates, which is the basis of all (I dare say) all object recognition methods. (parametric and non)
Source: Pattern Classification (duda, hart, stork) - A must read for object recognition.
Edit: Important things to know(research): sample size, test set vs training set, you need a "Basis" in order to extract.
Object recognition is a very hard problem, and there is still a lot of research going on. That said, you might be interested in Bastian Steder's work on a 3D Point Cloud Based Object Recognition System.
Asked: 2011-10-05 17:22:56 -0500
Seen: 4,143 times
Last updated: Oct 06 '11
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