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Robust Object Classification Approach Using Spherical Harmonics
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AI
DOI：10.1109/ACCESS.2022.3151350.png)
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Abstract
En 中文
Point clouds produced by either 3D scanners or multi-view images are often imperfect and contain noise or outliers. This paper presents an end-to-end robust spherical harmonics approach to classifying 3D objects. The proposed framework first uses the voxel grid of concentric spheres to learn features over the unit ball. We then limit the spherical harmonics order level to suppress the effect of noise and outliers. In addition, the entire classification operation is performed in the Fourier domain. As a result, our proposed model learned features that are less sensitive to data perturbations and corruptions. We tested our proposed model against several types of data perturbations and corruptions, such as noise and outliers. Our results show that the proposed model has fewer parameters, competes with state-of-art networks in terms of robustness to data inaccuracies, and is faster than other robust methods. Our implementation code is also publicly available at https://github.com/AymanMukh/R-SCNN
Keywords:
Harmonic analysis
Three-dimensional displays
Power harmonic filters
Point cloud compression
Shape
Convolution
Robustness
Object recognition
point cloud classification
spherical harmonics
robust classification