基于人造物体直线段结构特征的不变性识别

Line Feature Based Man-Made Object Recognition with Invariance

传统的用假设验证法进行三维物体识别的方法需要通过一组非线性方程组求解从模型到场景的坐标系变换,具有非常高的复杂度.文中提出了一种基于能够表明物体几何构造的直线段特征的人造物体识别方法,将假设验证法中对于全局坐标系变换的求解分散在各个平面单应性变换的求解中,降低了求解的复杂度.该方法首先利用几何不变量预匹配特征点,进而假设并求出场景和模型平面之间的单应矩阵,随后通过模型与场景之间直线段特征匹配的结果进行验证.实验证明,该方法能够快速准确地识别含有较多共面直线段特征的人造物体.

The traditional three-dimensional object recognition method based on hypothesis and test needs to solve the coordinate transformation matrix from scene to model through a group of non-linear equations.Therefore,it has a very high complexity.This paper presents a man-made object recognition method based on the geometric feature of line characteristics,and disperses the overall coordinate transformation calculation in every local Plane Homography calculation,reduces the complexity of the solution.Its process： firstly pre-match the feature points using geometric invariants,then assume and solve the Plane Homography matrix between scenes to model.After that it matches the line segments on the homography plane,and by this verifies the assumption.Experiments prove that this method can rapidly and accurately identify man-made objects with coplanar line features.