Fast 3D recognition and pose using the Viewpoint Feature Histogram

We present the Viewpoint Feature Histogram (VFH), a descriptor for 3D point cloud data that encodes geometry and viewpoint. We demonstrate experimentally on a set of 60 objects captured with stereo cameras that VFH can be used as a distinctive signature, allowing simultaneous recognition of the obje...

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Bibliographic Details
Main Authors: Rusu, R B, Bradski, G, Thibaux, R, Hsu, J
Format: Conference Proceeding
Language:English
Subjects:
Cameras
Histograms
Object recognition
Robots
Shape
Surface treatment
Three dimensional displays
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Description
Summary:We present the Viewpoint Feature Histogram (VFH), a descriptor for 3D point cloud data that encodes geometry and viewpoint. We demonstrate experimentally on a set of 60 objects captured with stereo cameras that VFH can be used as a distinctive signature, allowing simultaneous recognition of the object and its pose. The pose is accurate enough for robot manipulation, and the computational cost is low enough for real time operation. VFH was designed to be robust to large surface noise and missing depth information in order to work reliably on stereo data.
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2010.5651280