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Prototype-based intraclass pose recognition of partial 3D scans

Montiel, J., Laga, H. and Nakajima, M. (2009) Prototype-based intraclass pose recognition of partial 3D scans. In: NICOGRAPH International 2009, 19 - 20 June 2009, Kanazawa, Ishikawa, Japan



We propose a new algorithm for recognizing the pose of partial scans of objects of the same class such as hands. We formulate the recognition problem as a problem of matching the partial scan to a set of prototypes, each one representing a key pose. The key poses are first indexed offline using a set of local descriptors. Next, given a partial range scan of an object, which can be acquired by any 3D sensor such as stereo or Time Of Flight (TOF) cameras, we start by computing a set of local descriptors, in the same manner as the offline process. The recognition is based on estimating the similarity between the descriptors of the scan and the descriptors of the prototypes. We introduce a comparison scheme that allows the estimation of the similarity between a partial scan and a full 3D model. This allows also an accurate localization of the partial scan onto the full 3D model. Our experiments show that the algorithm is able to: (1) find similar key poses for a given partial scan even in the presence of subtle change s only, and (2) it casts aside the models that have different pose than the partial scan.

Publication Type: Conference Paper
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