Year 2019, Volume 6 , Issue 1, Pages 139 - 142 2019-04-12

3D Object Recognition with Keypoint Based Algorithms

Muhammed Enes ATİK [1] , Abdullah Harun İNCEKARA [2] , Batuhan SARITÜRK [3] , Ozan ÖZTÜRK [4] , Zaide DURAN [5] , Dursun Zafer ŞEKER [6]


Object recognition is important in many practical applications of computer vision. Traditional 2D methods are negatively affected by illumination, shadowing and viewpoint. 3D methods have the potential to solve these problems, because 3D models include geometric properties of the objects. In this paper, 3D local feature based algorithms were used for 3D object recognition. The local feature was keypoint. This study aimed to research facilities of keypoints for 3D object recognition. Keypoint is feature of object that is detected by detector algorithms according to certain mathematical base. A recognition system was designed. For this purpose, a database that includes 3D model of objects was created. The algorithms were improved in MATLAB. The keypoints on the 3D models were detected using keypoint detectors.  These keypoints were described by keypoints descriptors. The descriptor algorithms detect geometrical relation between each point of point cloud and create a histogram. In the third step, the keypoints in different point clouds are matched using the feature histograms obtained. Statistical methods are used to compare generated histograms. Thus, the two closest similar points between the different point clouds are matched. It is expected that the models with the most corresponding points belong to the same object. Euclidean distance between corresponding keypoints in the two point cloud is calculated. It has been accepted that the points are shorter than 10 mm. The positional accuracy of the matched points has been examined. Iterative Closest Point (ICP) was applied to the matching point clouds for this purpose. As a result, the graphics were generated that showed correct matching ratio and root mean square error. As a result, there are different approaches about 3D object recognition in literature. This study aimed to compare different keypoint detector and descriptor algorithms. Intrinsic Shape Signature (ISS) is keypoint detector algorithms. Point Feature Histograms (PFH) and Fast Point Feature Histograms (FPFH) are keypoint descriptor algorithms. The results of this study will provide guidance for future studies. 
Recognition, Local Feature, 3D Model
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Primary Language en
Journal Section Short Communications
Authors

Orcid: 0000-0003-2273-7751
Author: Muhammed Enes ATİK (Primary Author)
Institution: Istanbul Technical University, Department of Geomatics Engineering, 34469 Maslak Istanbul, TR
Country: Turkey


Orcid: 0000-0001-9166-7537
Author: Abdullah Harun İNCEKARA
Institution: Gaziosmanpasa University, Department of Geomatics Engineering, 60150, Tokat, Turkey
Country: Turkey


Orcid: 0000-0003-2273-7751
Author: Batuhan SARITÜRK
Institution: Istanbul Technical University, Department of Geomatics Engineering, 34469 Maslak Istanbul, TR
Country: Turkey


Orcid: 0000-0003-2273-7751
Author: Ozan ÖZTÜRK
Institution: Istanbul Technical University, Department of Geomatics Engineering, 34469 Maslak Istanbul, TR
Country: Turkey


Orcid: 0000-0002-1608-0119
Author: Zaide DURAN
Institution: Istanbul Technical University, Department of Geomatics Engineering, 34469 Maslak Istanbul, TR
Country: Turkey


Orcid: 0000-0001-7498-1540
Author: Dursun Zafer ŞEKER
Institution: Istanbul Technical University, Department of Geomatics Engineering, 34469 Maslak Istanbul, TR
Country: Turkey


Dates

Publication Date : April 12, 2019

Bibtex @short communication { ijegeo551747, journal = {International Journal of Environment and Geoinformatics}, issn = {}, eissn = {2148-9173}, address = {}, publisher = {Cem GAZİOĞLU}, year = {2019}, volume = {6}, pages = {139 - 142}, doi = {10.30897/ijegeo.551747}, title = {3D Object Recognition with Keypoint Based Algorithms}, key = {cite}, author = {ATİK, Muhammed Enes and İNCEKARA, Abdullah Harun and SARITÜRK, Batuhan and ÖZTÜRK, Ozan and DURAN, Zaide and ŞEKER, Dursun Zafer} }
APA ATİK, M , İNCEKARA, A , SARITÜRK, B , ÖZTÜRK, O , DURAN, Z , ŞEKER, D . (2019). 3D Object Recognition with Keypoint Based Algorithms. International Journal of Environment and Geoinformatics , 6 (1) , 139-142 . DOI: 10.30897/ijegeo.551747
MLA ATİK, M , İNCEKARA, A , SARITÜRK, B , ÖZTÜRK, O , DURAN, Z , ŞEKER, D . "3D Object Recognition with Keypoint Based Algorithms". International Journal of Environment and Geoinformatics 6 (2019 ): 139-142 <https://dergipark.org.tr/en/pub/ijegeo/issue/43673/551747>
Chicago ATİK, M , İNCEKARA, A , SARITÜRK, B , ÖZTÜRK, O , DURAN, Z , ŞEKER, D . "3D Object Recognition with Keypoint Based Algorithms". International Journal of Environment and Geoinformatics 6 (2019 ): 139-142
RIS TY - JOUR T1 - 3D Object Recognition with Keypoint Based Algorithms AU - Muhammed Enes ATİK , Abdullah Harun İNCEKARA , Batuhan SARITÜRK , Ozan ÖZTÜRK , Zaide DURAN , Dursun Zafer ŞEKER Y1 - 2019 PY - 2019 N1 - doi: 10.30897/ijegeo.551747 DO - 10.30897/ijegeo.551747 T2 - International Journal of Environment and Geoinformatics JF - Journal JO - JOR SP - 139 EP - 142 VL - 6 IS - 1 SN - -2148-9173 M3 - doi: 10.30897/ijegeo.551747 UR - https://doi.org/10.30897/ijegeo.551747 Y2 - 2019 ER -
EndNote %0 International Journal of Environment and Geoinformatics 3D Object Recognition with Keypoint Based Algorithms %A Muhammed Enes ATİK , Abdullah Harun İNCEKARA , Batuhan SARITÜRK , Ozan ÖZTÜRK , Zaide DURAN , Dursun Zafer ŞEKER %T 3D Object Recognition with Keypoint Based Algorithms %D 2019 %J International Journal of Environment and Geoinformatics %P -2148-9173 %V 6 %N 1 %R doi: 10.30897/ijegeo.551747 %U 10.30897/ijegeo.551747
ISNAD ATİK, Muhammed Enes , İNCEKARA, Abdullah Harun , SARITÜRK, Batuhan , ÖZTÜRK, Ozan , DURAN, Zaide , ŞEKER, Dursun Zafer . "3D Object Recognition with Keypoint Based Algorithms". International Journal of Environment and Geoinformatics 6 / 1 (April 2019): 139-142 . https://doi.org/10.30897/ijegeo.551747
AMA ATİK M , İNCEKARA A , SARITÜRK B , ÖZTÜRK O , DURAN Z , ŞEKER D . 3D Object Recognition with Keypoint Based Algorithms. International Journal of Environment and Geoinformatics. 2019; 6(1): 139-142.
Vancouver ATİK M , İNCEKARA A , SARITÜRK B , ÖZTÜRK O , DURAN Z , ŞEKER D . 3D Object Recognition with Keypoint Based Algorithms. International Journal of Environment and Geoinformatics. 2019; 6(1): 142-139.