NDLI: Real-time 3D semi-local surface patch extraction using GPGPU : Application to 3D object recognition

Content Provider	Springer Nature Link
Author	Orts Escola, Sergio Morell, Vicente Garcia Rodriguez, Jose Cazorla, Miguel Fisher, Robert B.
Copyright Year	2013
Abstract	Feature vectors can be anything from simple surface normals to more complex feature descriptors. Feature extraction is important to solve various computer vision problems: e.g. registration, object recognition and scene understanding. Most of these techniques cannot be computed online due to their complexity and the context where they are applied. Therefore, computing these features in real-time for many points in the scene is impossible. In this work, a hardware-based implementation of 3D feature extraction and 3D object recognition is proposed to accelerate these methods and therefore the entire pipeline of RGBD based computer vision systems where such features are typically used. The use of a GPU as a general purpose processor can achieve considerable speed-ups compared with a CPU implementation. In this work, advantageous results are obtained using the GPU to accelerate the computation of a 3D descriptor based on the calculation of 3D semi-local surface patches of partial views. This allows descriptor computation at several points of a scene in real-time. Benefits of the accelerated descriptor have been demonstrated in object recognition tasks. Source code will be made publicly available as contribution to the Open Source Point Cloud Library.
Starting Page	647
Ending Page	666
Page Count	20
File Format	PDF
ISSN	18618200
Journal	Journal of Real-Time Image Processing
Volume Number	10
Issue Number	4
e-ISSN	18618219
Language	English
Publisher	Springer Berlin Heidelberg
Publisher Date	2013-12-11
Publisher Place	Berlin, Heidelberg
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Real-time GPGPU RGB-D 3D local shape descriptor Object recognition Image Processing and Computer Vision Multimedia Information Systems Computer Graphics Pattern Recognition Signal, Image and Speech Processing
Content Type	Text
Resource Type	Article
Subject	Information Systems

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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