Depth-based Object Detection using Hierarchical Fragment Matching Method

Reza Haghighi, Mahdi Rasouli, Syeda Mariam Ahmed, Kim Pong Tan, Mohamed Almamun, Chee Meng Chew

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Identifying a workpiece in industrial processes using depth sensors has received increasing attention over the past few years. However, this is a challenging task particularly when the object is large or cluttered. In these scenarios, captured point clouds do not provide sufficient information to detect the object. To address this issue, we present a hierarchical fragment matching method for 3D object detection and pose estimation. We build a library of object fragments by scanning the object from different viewpoints. A descriptor, named Clustered Centerpoint Feature Histogram (CCFH), is proposed to compute the features for each fragment. The proposed method aims to enhance the robustness of the existing Clustered Viewpoint Feature Histogram (CVFH) descriptor. Subsequently, an Extreme Learning Machine (ELM) classifier is applied to identify the matched segments between the scene and the library of fragments. Finally, the pose of the object in the scene is estimated using the matched segments. Unlike existing approaches that require the CAD model of the object or pre-registration process, the proposed method directly use the scanned point clouds of the object. The experimental results are presented to illustrate the performance of the proposed method.

Original languageEnglish
Title of host publication2018 IEEE 14th International Conference on Automation Science and Engineering, CASE 2018
PublisherIEEE Computer Society
Pages780-785
Number of pages6
Volume2018-August
ISBN (Electronic)9781538635933
DOIs
Publication statusPublished - Dec 4 2018
Event14th IEEE International Conference on Automation Science and Engineering, CASE 2018 - Munich, Germany
Duration: Aug 20 2018Aug 24 2018

Other

Other14th IEEE International Conference on Automation Science and Engineering, CASE 2018
CountryGermany
CityMunich
Period8/20/188/24/18

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Haghighi, R., Rasouli, M., Ahmed, S. M., Tan, K. P., Almamun, M., & Chew, C. M. (2018). Depth-based Object Detection using Hierarchical Fragment Matching Method. In 2018 IEEE 14th International Conference on Automation Science and Engineering, CASE 2018 (Vol. 2018-August, pp. 780-785). [8560427] IEEE Computer Society. https://doi.org/10.1109/COASE.2018.8560427