Improving 3D Keypoint Detection from Noisy Data Using Growing Neural Gas
Contribuinte(s) |
Universidad de Alicante. Departamento de Tecnología Informática y Computación Universidad de Alicante. Departamento de Ciencia de la Computación e Inteligencia Artificial Informática Industrial y Redes de Computadores Robótica y Visión Tridimensional (RoViT) |
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Data(s) |
16/07/2014
16/07/2014
2013
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Resumo |
3D sensors provides valuable information for mobile robotic tasks like scene classification or object recognition, but these sensors often produce noisy data that makes impossible applying classical keypoint detection and feature extraction techniques. Therefore, noise removal and downsampling have become essential steps in 3D data processing. In this work, we propose the use of a 3D filtering and down-sampling technique based on a Growing Neural Gas (GNG) network. GNG method is able to deal with outliers presents in the input data. These features allows to represent 3D spaces, obtaining an induced Delaunay Triangulation of the input space. Experiments show how the state-of-the-art keypoint detectors improve their performance using GNG output representation as input data. Descriptors extracted on improved keypoints perform better matching in robotics applications as 3D scene registration. |
Identificador |
Advances in Computational Intelligence: 12th International Work-Conference on Artificial Neural Networks, IWANN 2013, Puerto de la Cruz, Tenerife, Spain, June 12-14, 2013, Proceedings, Part II. Berlin : Springer, 2013. (Lecture Notes in Computer Science; 7903). ISBN 978-3-642-38681-7, pp. 480-487 978-3-642-38681-7 0302-9743 (Print) 1611-3349 (Online) http://hdl.handle.net/10045/39280 10.1007/978-3-642-38682-4_51 |
Idioma(s) |
eng |
Publicador |
Springer Berlin Heidelberg |
Relação |
http://dx.doi.org/10.1007/978-3-642-38682-4_51 |
Direitos |
The final publication is available at Springer via http://dx.doi.org/10.1007/978-3-642-38682-4_51 info:eu-repo/semantics/openAccess |
Palavras-Chave | #GNG #Noisy point cloud #Visual features #Keypoint detection #Filtering #3D scene registration #Arquitectura y Tecnología de Computadores #Ciencia de la Computación e Inteligencia Artificial |
Tipo |
info:eu-repo/semantics/article |