Classification of 3D Point Cloud Using Numerical Surface Signatures on Interest Points

K. Rimkus, A. Lipnickas, S. Sinkevicius


This paper describes a 3D object classification method by 3D-3D comparison using the numerical surface point signatures on interest points of 3D objects point cloud. Interest or salient points of 3D point cloud were found by Heat Kernel Signature method. The numerical point signatures used for classification were composed only on these points. To investigate the objects classification resistance to the data measurement noise, additionally to original 3D data was added 1.5 % of continuity distributed noise. Object classification was carried out using forty three 3D objects point cloud database. Study of 3D object interest points recognition has shown that the standard Surface Point Signatures methodology is sensitive to the normal vector used for signature composition as well as the object’s surface normal is very sensitive to objects mesh error. In order to reduce the sensitivity to the object surface measurement error we have proposed to use one constant vector as average from all object mesh normal’s. Such approach on average improved interest point’s recognition rate by ~16 % and allowed to reach 95.9 % of classification accuracy on used 43 objects database.



Classification algorithms; digital signatures; object recognition; robot vision systems

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Print ISSN: 1392-1215
Online ISSN: 2029-5731