Pose estimation algorithm based on point pair features using PointNet plus

Yifan Chen

doi:10.1007/s40747-024-01508-x

2024-06-16

DOI：10.1007/s40747-024-01508-x

原文链接

原文求助

摘要

En 中文

This study proposes an innovative deep learning algorithm for pose estimation based on point clouds, aimed at addressing the challenges of pose estimation for objects affected by the environment. Previous research on using deep learning for pose estimation has primarily been conducted using RGB-D data. This paper introduces an algorithm that utilizes point cloud data for deep learning-based pose computation. The algorithm builds upon previous work by integrating PointNet + + technology and the classical Point Pair Features algorithm, achieving accurate pose estimation for objects across different scene scales. Additionally, an adaptive parameter-density clustering method suitable for point clouds is introduced, effectively segmenting clusters in varying point cloud density environments. This resolves the complex issue of parameter determination for density clustering in different point cloud environments and enhances the robustness of clustering. Furthermore, the LineMod dataset is transformed into a point cloud dataset, and experiments are conducted on the transformed dataset to achieve promising results with our algorithm. Finally, experiments under both strong and weak lighting conditions demonstrate the algorithm's robustness.

Keyword:

PointNet plus plus

Point pair features

Pose estimation

3D point cloud

Computer vision

期刊

Complex and Intelligent Systems

IF:

4.6

论文数:

2.1K

被引数:

6.6K

机构

暂无机构信息

引用论文

Personality traits related to juvenile myoclonic epilepsy: MRI reveals prefrontal abnormalities through a voxel-based morphometry study

Epilepsy & Behavior

IF0

2009-06-01

PREAI

Gerardo Maria de Araújo Filho; Andrea Parolin Jackowski; Katia Lin; Mirian S.B. Guaranha; Laura M.F.F. Guilhoto; Henrique Hattori da Silva; Luís Otávio Sales Ferreira Caboclo; Henrique Carrete Júnior; Rodrigo Affonseca Bressan; Elza Márcia T. Yacubian

The moderating role of the dopamine transporter 1 gene on P50 sensory gating and its modulation by nicotine

Neuroscience

IF0

2011-04-01