Title :
A new distance for scale-invariant 3D shape recognition and registration
Author :
Pham, Minh-Tri ; Woodford, Oliver J. ; Perbet, Frank ; Maki, Atsuto ; Stenger, Bjorn ; Cipolla, Roberto
Author_Institution :
Cambridge Res. Lab., Toshiba Res. Eur. Ltd., Cambridge, UK
Abstract :
This paper presents a method for vote-based 3D shape recognition and registration, in particular using mean shift on 3D pose votes in the space of direct similarity transforms for the first time. We introduce a new distance between poses in this space-the SRT distance. It is left-invariant, unlike Euclidean distance, and has a unique, closed-form mean, in contrast to Riemannian distance, so is fast to compute. We demonstrate improved performance over the state of the art in both recognition and registration on a real and challenging dataset, by comparing our distance with others in a mean shift framework, as well as with the commonly used Hough voting approach.
Keywords :
Hough transforms; image registration; pose estimation; shape recognition; Hough voting; direct similarity transform; mean shift framework; pose estimation; scale-invariant 3D shape recognition; scale-invariant 3D shape registration; vote-based 3D shape recognition; vote-based 3D shape registration; Lead;
Conference_Titel :
Computer Vision (ICCV), 2011 IEEE International Conference on
Conference_Location :
Barcelona
Print_ISBN :
978-1-4577-1101-5
DOI :
10.1109/ICCV.2011.6126236