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3D Object Recognition and 2-Simplex Meshes

3D Object Recognition and 2-Simplex Meshes. By Gerald Dalley. Overview. Some popular 3D object recognition techniques Appearance-based matching Feature matching Regular mesh tesselation 2-Simplex Meshes Spherical Attribute Images For further reading.

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3D Object Recognition and 2-Simplex Meshes

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  1. 3D Object Recognition and 2-Simplex Meshes By Gerald Dalley

  2. Overview • Some popular 3D object recognition techniques • Appearance-based matching • Feature matching • Regular mesh tesselation • 2-Simplex Meshes • Spherical Attribute Images • For further reading 3D Vehicle Recognition

  3. Popular Recognition Techniques:Appearance-Based Matching • Basic steps • Sample a view-sphere • Record feature measurements as observable from a camera at each view-sphere sample point (create templates) • Compare observed data with each template from each model • Choose the model and orientation that provides the best match • Requires sufficiently fine sampling of the view sphere 3D Vehicle Recognition

  4. Popular Recognition Techniques:Feature Matching • Ravi’s work, Rick’s local features • Basic steps • Find features invariant to rotation and translation • Build an attributed graph • Nodes: features • Arcs: spatial arrangement • Choose the model whose graph is most similar 3D Vehicle Recognition

  5. Popular Recognition Techniques:Regular Mesh Tesselation • “Regularly” sample the mesh • Square grid • Triangularization • 2-Simplex • Measure feature values at mesh vertices • Vertex-by-vertex comparison Image from [3] 3D Vehicle Recognition

  6. 2-Simplex Meshes • Dual of triangularization • Triangle face  simplex vertex • Triangle vertex  simplex face 3D Vehicle Recognition

  7. 2-Simplex Meshes:Two Examples 3D Vehicle Recognition

  8. f1 and f3merged f2 f4 2-Simplex Meshes:Topological & Geometric Modifications f1 V1 f2 f4 V2 f3 f1 V1' f2 f4 Edge Swap Edge Removal V2' f3 3D Vehicle Recognition

  9. 2-Simplex Meshes:Edge Removal Example 3D Vehicle Recognition

  10. 2D Contour SAI: Point size  vertex curvature 1-Simplex Mesh Spherical Attribute Images 3D Vehicle Recognition

  11. Spherical Attribute Images:2D SAI Examples 3D Vehicle Recognition

  12. Spherical Attribute Images:Recognition 3D Vehicle Recognition

  13. Further Reading 3D Vehicle Recognition

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