Object recognition method, descriptor generating method for object recognition, and descriptor for object recognition

摘要

An object recognition method, a descriptor generating method for object recognition, and a descriptor for object recognition capable of extracting feature points using the position relationship and color information relationship between points in a group that are sampled from an image of an object, and capable of recognizing the object using the feature points, the object recognition method including extracting feature components of a point cloud using the position information and the color information of the points that compose the point cloud of the three-dimensional (3D) image of an object, generating a descriptor configured to recognize the object using the extracted feature components; and performing the object recognition based on the descriptor.

主权项

1. A method of recognizing an object, the method comprising:
extracting a feature component of a point cloud of a three-dimensional (3D) image of the object by using position information and color information of points that form the point cloud; generating a descriptor configured to recognize the object using the extracted feature component; and recognizing the object based on the generated descriptor, wherein the descriptor comprises:
a first feature component, being a difference of brightness values between a reference point and a neighborhood point of the point cloud;a second feature component, being a hue value of the neighborhood point;a third feature component, being an angle between a vector from the reference point to the neighborhood point and a vector from the reference point to a projection point of the neighborhood point; anda fourth feature component, being an angle between a dominant vector of the point cloud and the vector from the reference point to the projection point of the neighborhood point.