Fast object recognition and 6D pose estimation using viewpoint oriented color-shape histogram

In this paper, we present an object recognition and pose estimation framework consisting of a novel global object descriptor, so called Viewpoint oriented Color-Shape Histogram (VCSH), which combines object´s color and shape information. During the phase of object modeling and feature extraction, the whole object´s color point cloud model is built by registration from multi-view color point clouds. VCSH is trained using partial-view object color point clouds generated from different synthetic viewpoints. During the recognition phase, the object is identified and the closest viewpoint is extracted using the built feature database and object´s features from real scene. The estimated closest viewpoint provides a good initialization for object pose estimation optimization using the iterative closest point strategy. Finally, objects in real scene are recognized and their accurate poses are retrieved. A set of experiments is realized where our proposed approach is proven to outperform other existing methods by guaranteeing highly accurate object recognition, fast and accurate pose estimation as well as exhibiting the capability of dealing with environmental illumination changes.