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Adaptive Fusion-based 3D Keypoint Detection for RGB Point Clouds

Abstract: 

We propose a novel keypoint detector for 3D RGB Point Clouds (PCs). The proposed keypoint detector exploits both the 3D structure and the RGB information of the PC data. Keypoint candidates are generated by computing the eigenvalues of the covariance matrix of the PC structure information. Additionally, from the RGB information, we estimate the salient points by an efficient adaptive difference of Gaussian-based operator. Finally, we fuse the resulting two sets of salient points to improve the repeatability of the 3D keypoint detector. The proposed algorithm is compared to the state-of-the-art algorithms on two benchmark datasets. The experimental results show that the proposed scheme outperforms the best existing method by 5.35% and 60.98 points on the SHOT-Kinect dataset and by 5.45% and 145.54 points on the SHOT-SpaceTime dataset in terms of relative and absolute repeatability, respectively.

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Paper Details

Authors:
Dmytro Bobkov, Eckehard Steinbach
Submitted On:
19 September 2019 - 3:26pm
Short Link:
Type:
Presentation Slides
Event:
Presenter's Name:
Muhammad Zafar Iqbal
Paper Code:
2234
Document Year:
2019
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ICIP_MZIqbal_Adaptive_Fusion Final No Animation Print.pdf

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[1] Dmytro Bobkov, Eckehard Steinbach, "Adaptive Fusion-based 3D Keypoint Detection for RGB Point Clouds", IEEE SigPort, 2019. [Online]. Available: http://sigport.org/4747. Accessed: Oct. 22, 2019.
@article{4747-19,
url = {http://sigport.org/4747},
author = {Dmytro Bobkov; Eckehard Steinbach },
publisher = {IEEE SigPort},
title = {Adaptive Fusion-based 3D Keypoint Detection for RGB Point Clouds},
year = {2019} }
TY - EJOUR
T1 - Adaptive Fusion-based 3D Keypoint Detection for RGB Point Clouds
AU - Dmytro Bobkov; Eckehard Steinbach
PY - 2019
PB - IEEE SigPort
UR - http://sigport.org/4747
ER -
Dmytro Bobkov, Eckehard Steinbach. (2019). Adaptive Fusion-based 3D Keypoint Detection for RGB Point Clouds. IEEE SigPort. http://sigport.org/4747
Dmytro Bobkov, Eckehard Steinbach, 2019. Adaptive Fusion-based 3D Keypoint Detection for RGB Point Clouds. Available at: http://sigport.org/4747.
Dmytro Bobkov, Eckehard Steinbach. (2019). "Adaptive Fusion-based 3D Keypoint Detection for RGB Point Clouds." Web.
1. Dmytro Bobkov, Eckehard Steinbach. Adaptive Fusion-based 3D Keypoint Detection for RGB Point Clouds [Internet]. IEEE SigPort; 2019. Available from : http://sigport.org/4747