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Improving Generalization for 3D Object Categorization with Global Structure Histograms
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0003-4132-1217
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2012 (English)In: Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, IEEE conference proceedings, 2012, 1379-1386 p.Conference paper, Published paper (Refereed)
Abstract [en]

We propose a new object descriptor for three dimensional data named the Global Structure Histogram (GSH). The GSH encodes the structure of a local feature response on a coarse global scale, providing a beneficial trade-off between generalization and discrimination. Encoding the structural characteristics of an object allows us to retain low local variations while keeping the benefit of global representativeness. In an extensive experimental evaluation, we applied the framework to category-based object classification in realistic scenarios. We show results obtained by combining the GSH with several different local shape representations, and we demonstrate significant improvements to other state-of-the-art global descriptors.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2012. 1379-1386 p.
Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
Keyword [en]
object representation, three dimensional data, visual, object recognition, object categorization, generalization, descriptor, point cloud
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-109289DOI: 10.1109/IROS.2012.6385874ISI: 000317042701141Scopus ID: 2-s2.0-84872344142ISBN: 978-1-4673-1737-5 (print)OAI: oai:DiVA.org:kth-109289DiVA: diva2:586900
Conference
EEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Algarve, October 7-12, 2012
Projects
Swedish Foundation for Strategic ResearchEuropean project COGX (FP7-IP-027657)European project TOMSY (IST-FP7-Collaborative Project-270436)Belgian National Fund for Scientiļ¬c Research (FNRS)
Funder
EU, FP7, Seventh Framework Programme, FP7-IP-027657EU, FP7, Seventh Framework Programme, IST-FP7-Collaborative Project-270436Swedish Foundation for Strategic Research ICT - The Next Generation
Note

QC 20130114

Available from: 2013-01-14 Created: 2012-12-28 Last updated: 2016-11-24Bibliographically approved

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Kragic, Danica

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Madry, MariannaEk, Carl HenrikDetry, RenaudHang, KaiyuKragic, Danica
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