3d object recognition by geometric hashing for robotics applications

Hozatlı, Aykut
The main aim of 3D Object recognition is to recognize objects under translation and rotation. Geometric Hashing is one of the methods which represents a rotation and translation invariant approach and provides indexing of structural features of the objects in an efficient way. In this thesis, Geometric Hashing is used to store the geometric relationship between discriminative surface properties which are based on surface curvature. In this thesis surface is represented by shape index and splash where shape index defines particular shaped surfaces and splash introduces topological information. The method is tested on 3D object databases and compared with other methods in the literature.


3D object recognition from range images using transform invariant object representation
AKAGÜNDÜZ, erdem; Ulusoy, İlkay (Institution of Engineering and Technology (IET), 2010-10-28)
3D object recognition is performed using a scale and orientation invariant feature extraction method and a scale and orientation invariant topological representation. 3D surfaces are represented by sparse, repeatable, informative and semantically meaningful 3D surface structures, which are called multiscale features. These features are extracted with their scale (metric size and resolution) using the classified scale-space of 3D surface curvatures. Triplets of these features are used to represent the surfac...
User directed view synthesis on omap processors
Yıldız, Mürsel; Akar, Gözde; Department of Electrical and Electronics Engineering (2009)
In this thesis, real time image rendering for hand held devices is studied according to user’s view point choice and using image frames with corresponding depth maps obtained from 2 different cameras, of which positions on coordinate system is known. User’s view point choice is restricted to the area between right, and left cameras. Occlusion handling methods for image rendering systems is explored and discussed together with frame enhancement techniques. Median filtering is studied for multicolor image fra...
A comparative performance evaluation of scale invariant interest point detectors for infrared and visual images
Emir, Erdem; Alatan, Abdullah Aydın; Department of Electrical and Electronics Engineering (2008)
In this thesis, the performance of four state-of-the-art feature detectors along with SIFT and SURF descriptors in matching object features of mid-wave infrared, long-wave infrared and visual-band images is evaluated across viewpoints and changing distance conditions. The utilized feature detectors are Scale Invariant Feature Transform (SIFT), multiscale Harris-Laplace, multiscale Hessian-Laplace and Speeded Up Robust Features (SURF) detectors, all of which are invariant to image scale and rotation. Feature...
3d geometric hashing using transform invariant features
Eskizara, Ömer; Ulusoy, İlkay; Department of Electrical and Electronics Engineering (2009)
3D object recognition is performed by using geometric hashing where transformation and scale invariant 3D surface features are utilized. 3D features are extracted from object surfaces after a scale space search where size of each feature is also estimated. Scale space is constructed based on orientation invariant surface curvature values which classify each surface point's shape. Extracted features are grouped into triplets and orientation invariant descriptors are defined for each triplet. Each pose of eac...
A comparative study on polygonal mesh simplification algorithms
Yirci, Murat; Ulusoy, İlkay; Department of Electrical and Electronics Engineering (2008)
Polygonal meshes are a common way of representing 3D surface models in many different areas of computer graphics and geometry processing. However, these models are becoming more and more complex which increases the cost of processing these models. In order to reduce this cost, mesh simplification algorithms are developed. Another important property of a polygonal mesh model is that whether it is regular or not. Regular meshes have many advantages over the irregular ones in terms of memory requirements, effi...
Citation Formats
A. Hozatlı, “3d object recognition by geometric hashing for robotics applications,” M.S. - Master of Science, Middle East Technical University, 2009.