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Title:
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Correspondence matching in unorganized 3D point clouds using Convolutional Neural Networks
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Author:
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Pujol Miró, Alba; Casas Pla, Josep Ramon; Ruiz Hidalgo, Javier
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Other authors:
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Universitat Politècnica de Catalunya. Departament de Teoria del Senyal i Comunicacions; Universitat Politècnica de Catalunya. GPI - Grup de Processament d'Imatge i Vídeo |
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Abstract:
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This document presents a novel method based in Convolutional Neural Networks (CNN) to obtain correspondence matchings between sets of keypoints of several unorganized 3D point cloud captures, independently of the sensor used. The proposed technique extends a state-of-the-art method for correspondence matching in standard 2D images to sets of unorganized 3D point clouds. The strategy consists in projecting the 3D neighborhood of the keypoint onto an RGBD patch, and the classi cation of patch pairs using CNNs. The objective evaluation of the proposed 3D point matching based in CNNs outperforms existing 3D feature descriptors, especially when intensity or color data is available. |
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Abstract:
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Peer Reviewed |
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Subject(s):
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-Àrees temàtiques de la UPC::Enginyeria de la telecomunicació
-Neural networks (Computer science)
-matching
-point cloud
-convolutional neural networks
-Xarxes neuronals (Informàtica) |
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Rights:
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Document type:
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Article - Submitted version
Article |
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