finding an object within a pointcloud without using feature correspondences/grouping

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finding an object within a pointcloud without using feature correspondences/grouping

shome
I am searching for an object(a small point cloud) in a scene(pointcloud).
However i cant use feature correspondence/grouping as the object is cylindrical(almost) & has very uniform surface. I think there will be mutiple correspondences & multiple groupings.
I cant use SAC segmentation as the object is not exactly cylindrical but a deformed one.

My idea is to represent the object as octree_object &  the scene as octree_scene.
then i try to search for octree_object in octree_scene.

Is this idea sensible? is searching for an octree within another possible?
any other solutions are also welcome.
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Re: finding an object within a pointcloud without using feature correspondences/grouping

andersgb1
If you are able to do this just using a search in an octree structure, I assure you you will be famous :)

3D object recognition is an "unsolved" problem, and by far most approaches rely on local shape features. However, other methods, such as PPF, use more "atomic" elements (in that case individual point pair features). There's an implementation of PPF in PCL (PPFRegistration), and one in OpenCV contrib, but they are not performing as well as the original. Read more here: http://far.in.tum.de/pub/drost2010CVPR/drost2010CVPR.pdf

On Thu, Oct 29, 2015 at 6:49 AM, shome <[hidden email]> wrote:
I am searching for an object(a small point cloud) in a scene(pointcloud).
However i cant use feature correspondence/grouping as the object is
cylindrical(almost) & has very uniform surface. I think there will be
mutiple correspondences & multiple groupings.
I cant use SAC segmentation as the object is not exactly cylindrical but a
deformed one.

My idea is to represent the object as octree_object &  the scene as
octree_scene.
then i try to search for octree_object in octree_scene.

Is this idea sensible? is searching for an octree within another possible?
any other solutions are also welcome.



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