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Recognition using spin images
- Andrew Johnson |
| Objects are recognized and localized in cluttered 3D scenes using local surface signatures called spin-images. [more info] |
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| The model object to be recognized is a u-shaped pipe | The 3D scene contains numerous objects in an unordered jumble. | Points on the target object in the scene have a similar local surface signature as the corresponding point on the model object. |
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| The matching corresponding points between the model and the scene allow us to recognize the object in the scene and to determine its exact 3D pose. | Object recognition can be extended to entire libraries of objects. Here, seven objects from the pipe and toy library were found. |