Development of a system for point cloud based object recognition

Dejan Štepec (2015) Development of a system for point cloud based object recognition. EngD thesis.

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Abstract

In this thesis we address the problem of point cloud based 3D object recognition. First we develop the system with different 3D shape descriptors and then make a thorough analysis of results gathered from testing the system on a publicly available benchmark database. We also evaluate how dimensionality reduction and different methods for feature point selection influence on classification accuracy. The system is compared with the system for object recognition in 2D. We evaluate the system on different number of objects, including on objects that are very similar by shape. Based on results from the dataset, we develop a real-time system for object recognition. The system allows us to build our own database of objects that we want to recognize. We constructed a database of 18 objects on which we evaluated the system. Results presented in this thesis have shown that we can recognize objects sufficiently good only with 3D shape information.

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