Intrinsic Shape Signature Descriptor

classic Classic list List threaded Threaded
8 messages Options
Reply | Threaded
Open this post in threaded view
|

Intrinsic Shape Signature Descriptor

codierknecht
Hi there.

I am searching for Feature Descriptors an as I found a keypoint detector for Intrinsic Shape Signature (ISS), but I can not find any implementation of the corresponding descriptor. This is a little confusing to me, because in the keypoint detectors source code is a reference to the original ISS paper, which mostly refers to the descriptor and descriptor database indexing for faster matching.

I am wondering if there is an implementation of the ISS descriptor too and if not, is there reason for it, except that no one has done it since yet?

Thanks in advance.
Reply | Threaded
Open this post in threaded view
|

Re: Intrinsic Shape Signature Descriptor

saranshvora
Hi,

you can find an example of ISS on th following link:
http://www.pointclouds.org/blog/gsoc12/gballin/iss.php

Regards,
Saransh Vora
Reply | Threaded
Open this post in threaded view
|

Re: Intrinsic Shape Signature Descriptor

codierknecht
Hi, thanks for your replay, but I am searching for a way to obtain the ISS descriptors. I know the class and usage of the keypoint detector since I read the docs and paper to the approach. What I am looking for is something like a ISSEstimator or something like that, to compute the ISS histograms and reference frames like described in [1], also referenced in the keypoint detector class ISSKeypoint3D.

The descriptor an keypoints of the Yu Zhong's approach seem to be nice for recognition tasks, but at the moment I am not able to calculate the ISS descriptor itself. Therefore I want to know if the pcl contains an implementation of it that I cannot find, or if I have to implement it myself if I want ISS.

[1] Yu Zhong, “Intrinsic shape signatures: A shape descriptor for 3D object recognition,” Computer Vision Workshops (ICCV Workshops), 2009 IEEE 12th International Conference on , vol., no., pp.689-696, Sept. 27 2009-Oct. 4 2009
Reply | Threaded
Open this post in threaded view
|

Re: Intrinsic Shape Signature Descriptor

saranshvora
Hi,

Sorry for the misunderstanding. You can access the ISS library from pcl here is the link- https://github.com/PointCloudLibrary/pcl/blob/master/keypoints/include/pcl/keypoints/impl/iss_3d.hpp
Reply | Threaded
Open this post in threaded view
|

Re: Intrinsic Shape Signature Descriptor

codierknecht
Ok, thanks for your effort. However, as I already mentioned: I know the keypoint detector, but I do not know how to acquire the histograms encoding the surface information.
Nevertheless was this a good hint, because I didn't expect to get the scatter matrix to estimate the local reference frame from the keypoint detector. Thank you for that one.
I still cannot compare any local feature descriptors, since it does not seem like there are no histograms available in the keypoint detector .
Reply | Threaded
Open this post in threaded view
|

Re: Intrinsic Shape Signature Descriptor

saranshvora
Sorry I do not know how you can get that though

Regards,
Saransh Vora
Reply | Threaded
Open this post in threaded view
|

Re: Intrinsic Shape Signature Descriptor

qinchun
This post has NOT been accepted by the mailing list yet.
In reply to this post by codierknecht
Hi there,

ISS is only keypoint detector, you need to pick up descriptor for these keypoints detected by ISS, please take a look at the document as follow:
http://pointclouds.org/documentation/tutorials/global_hypothesis_verification.php#global-hypothesis-verification
In this example, Uniform sampling is one of detectors for keypoint extraction, you might use ISS instead for this step. Descriptors might include FPFH, SHOT, RoPS and a lot others.

You might need to read some materials related to keypoint detection, description and matching for 3d object recognition, shape retrieval and 3d models
http://robotics.usc.edu/~potthast/06299166.pdf

Best,
Qinchun
Reply | Threaded
Open this post in threaded view
|

AW: Intrinsic Shape Signature Descriptor

codierknecht
Hi Qinchun,

thanks for your answer. However, I already know some keypointdetectors, but in the original paper also a feature descriptor is mentioned beside the detector implemented in pcl.
I tried some other descriptors too. I was especially interested to investigate if it is a useful distinctive descriptor, since the paper seems releasable for case of study. Meanwhile I moved on using other techniques.

Kind regards
 

________________________________________
Von: qinchun [via Point Cloud Library (PCL) Users mailing list] <[hidden email]>
Gesendet: Montag, 28. August 2017 19:19
An: Claer, Mario
Betreff: Re: Intrinsic Shape Signature Descriptor

Hi there,

ISS is only keypoint detector, you need to pick up descriptor for these keypoints detected by ISS, please take a look at the document as follow:
http://pointclouds.org/documentation/tutorials/global_hypothesis_verification.php#global-hypothesis-verification
In this example, Uniform sampling is one of detectors for keypoint extraction, you might use ISS instead for this step. Descriptors might include FPFH, SHOT, RoPS and a lot others.

You might need to read some materials related to keypoint detection, description and matching for 3d object recognition, shape retrieval and 3d models
http://robotics.usc.edu/~potthast/06299166.pdf

Best,
Qinchun

________________________________
If you reply to this email, your message will be added to the discussion below:
http://www.pcl-users.org/Intrinsic-Shape-Signature-Descriptor-tp4044348p4044993.html
To unsubscribe from Intrinsic Shape Signature Descriptor, click here<
NAML<
http://www.pcl-users.org/template/NamlServlet.jtp?macro=macro_viewer&id=instant_html%21nabble%3Aemail.naml&base=nabble.naml.namespaces.BasicNamespace-nabble.view.web.template.NabbleNamespace-nabble.view.web.template.NodeNamespace&breadcrumbs=notify_subscribers%21nabble%3Aemail.naml-instant_emails%21nabble%3Aemail.naml-send_instant_email%21nabble%3Aemail.naml>