Abstract
We present Multi Scale Shape Index (MSSI), a novel feature for 3D object recognition. Inspired by the scale space filtering theory and Shape Index measure proposed by Koenderink & Van Doorn [6], this feature associates different forms of shape, such as umbilics, saddle regions, parabolic regions to a real valued index. This association is useful for representing an object based on its constituent shape forms. We derive closed form scale space equations which computes a characteristic scale at each 3D point in a point cloud without an explicit mesh structure. This characteristic scale is then used to estimate the Shape Index. We quantitatively evaluate the robustness and repeatability of the MSSI feature for varying object scales and changing point cloud density. We also quantify the performance of MSSI for object category recognition on a publicly available dataset.
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Bonde, U., Badrinarayanan, V., Cipolla, R. (2013). Multi Scale Shape Index for 3D Object Recognition. In: Kuijper, A., Bredies, K., Pock, T., Bischof, H. (eds) Scale Space and Variational Methods in Computer Vision. SSVM 2013. Lecture Notes in Computer Science, vol 7893. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-38267-3_26
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DOI: https://doi.org/10.1007/978-3-642-38267-3_26
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