Object Recognition in RGB-D Images

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Noroozi, Mehdi | 2014

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 46239 (02)
University: Sharif University of Technology
Department: Mathematics
Advisor(s): Moghadasi, Reza; Mirshams Shahshahan, Mehrdad
Abstract:
Today with the availability of cheap depth sensor, processing point clouds produced by these sensors and extracting geometric features is an active field of computer vision. Object recognition is a basic computer vision issues that even with considerable research has remained as a challenge. In these thesis we have studied methods of utilizing depth images and geometric information of point clouds in order to extract geometric features from point clouds and have introduces a set of new geometric features using Normal Orientation Histogram. Also a novel and efficient method for segmentation of point cloud of indoor scenes is proposed. Experimental results depict that our proposed methods have considerable performance in comparison with state-of-the art methods
Keywords:
Machine Vision ; Object Recognition ; Depth Images ; Point Cloud ; Geometrical Descriptors

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