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A fast 3D object recognition algorithm using plane-constrained point pair features

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Abstract

The point pair feature (PPF) algorithm is one of the best-performing 3D object recognition algorithms. However, the high dimensionality of its search space is a disadvantage of this algorithm. This high dimensionality means the feature matching process contains a large number of uninformative features, which reduces recognition speed. To solve this problem and improve the object recognition speed, this paper proposes a fast 3D object recognition algorithm based on the plane-constrained point pair features. By utilizing the property of the coplanar point pair features and the characteristics of the object placement plane, the proposed algorithm extracts the object placement plane through convex hull area calculation, eliminates irrelevant point pair features, and then performs object recognition with the reduced point pair feature descriptors for the feature matching. Experimental results demonstrate that the proposed algorithm significantly reduces the number of feature descriptors and accelerates the recognition speed of 3D objects in a complex background. Compared to the original point pair feature algorithm, the proposed method can achieve better performance and efficiency for 3D object recognition.

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Acknowledgments

This work was supported in part by the National Natural Science Foundation of China under Grant U1601202, and in part by the Guangdong Provincial R&D Project under Grant No. 2018B090906002.

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Authors and Affiliations

  1. State Key Laboratory of Precision Electronic Manufacturing Technology and Equipment, Guangdong University of Technology, Guangzhou, 510006, China

    Zhengtao Xiao, Jian Gao, Lanyu Zhang & Xin Chen

  2. School of Electromechanical Engineering, Guangdong Polytechnic of Industry and Commerce, Guangzhou, 510510, China

    Zhengtao Xiao

  3. School of Computational Science, Zhongkai University of Agriculture and Engineering, Guangzhou, 510220, China

    Dongqing Wu

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  1. Zhengtao Xiao
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Correspondence to Jian Gao.

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Xiao, Z., Gao, J., Wu, D. et al. A fast 3D object recognition algorithm using plane-constrained point pair features. Multimed Tools Appl 79, 29305–29325 (2020). https://doi.org/10.1007/s11042-020-09525-x

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