Abstract
This paper presents a method to determine efficient scan-patterns for spin images using robust multivariate regression. A large dataset is generated using scan-patterns with random radial scanlines through an oriented point and determining the corresponding classification performance. Eight features are chosen, which are used as predictor variables for a multivariate least trimmed squares regression algorithm, achieving an adjusted coefficient of determination of R 2=0.80. The correlation coefficients are then used in an exemplary cost-benefit function of an exemplary application of the proposed method.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Surmann, H., Lingemann, K., Nüchter, A., Hertzberg, J.: A 3d laser range finder for autonomous mobile robots. In: Proceedings of the 32nd ISR(International Symposium on Robotics), pp. 153–158 (2001)
Johnson, A.E., Hebert, M.: Using spin images for efficient object recognition in cluttered 3d scenes. IEEE Transactions on Pattern Analysis and Machine Intelligence 21, 433–449 (1999)
Stein, F., Medioni, G.: Structural indexing: Efficient 3-d object recognition. IEEE Transactions on Pattern Analysis and Machine Intelligence 14, 125–145 (1992)
Blais, F., Beraldin, J.A., El-Hakim, S.F.: Real-time geometrical tracking and pose estimation using laser triangulation and photogrammetry. In: Proceedings of the 1st International Symposium on 3D Data Processing, Visualization, and Transmission, pp. 205–210 (2001)
Rousseeuw, P.: Least median of squares regression. Journal of the American Statistical Association 79, 871–880 (1984)
Rousseeuw, P., Leroy, A.: Robust Regression and Outlier Detection. Wiley-IEEE (2003)
Hampel, F.: A general qualitative definition of robustness. Annals of Mathematical Statistics 42, 1887–1896 (1971)
Bickel, P.: One-step huber estimates in the linear model. Journal of the American Statistical Association 70, 428–434 (1975)
Rousseeuw, P., Van Driessen, K.: An Algorithm for Positive-Breakdown Regression Based on Concentration Steps. In: Data Analysis: Scientific Modeling and Practical Application, pp. 335–346. Springer, Heidelberg (2000)
Verboven, S., Hubert, M.: LIBRA: a MATLAB library for robust analysis. Chemometrics and Intelligent Laboratory Systems 75, 127–136 (2005)
Joanes, D.N., Gill, C.A.: Comparing measures of sample skewness and kurtosis. Journal of the Royal Statistical Society: Series D (The Statistician) 47, 183–189 (1998)
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 2007 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Matzka, S., Petillot, Y.R., Wallace, A.M. (2007). Determining Efficient Scan-Patterns for 3-D Object Recognition Using Spin Images. In: Bebis, G., et al. Advances in Visual Computing. ISVC 2007. Lecture Notes in Computer Science, vol 4842. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-76856-2_55
Download citation
DOI: https://doi.org/10.1007/978-3-540-76856-2_55
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-76855-5
Online ISBN: 978-3-540-76856-2
eBook Packages: Computer ScienceComputer Science (R0)