Project3DObjDetection

Chair for Computer Aided Medical Procedures & Augmented Reality
Lehrstuhl für Informatikanwendungen in der Medizin & Augmented Reality

3D Rigid Object Detection

Rigid 3D Object Detection

Rigid 3D Object Detection

Scientific Director: Federico Tombari, Slobodan Ilic

Contact Person(s): Federico Tombari

In industrial collaboration with:
MVTec Software GmbH?
Toyota Motor Corporation

Keywords: Computer Vision

Abstract

Object detection and localization is a crucial step for inspection and manipulation tasks in robotic and industrial applications. We present an object detection and localization scheme for 3D objects that combines intensity and depth data. A novel multimodal, scale- and rotation-invariant feature is used to simultaneously describe the object's silhouette and surface appearance. The object's position is determined by matching scene and model features via a Hough-like local voting scheme. The proposed method is quantitatively and qualitatively evaluated on a large number of real sequences, proving that it is generic and highly robust to occlusions and clutter. Comparisons with state of the art methods demonstrate comparable results and higher robustness with respect to occlusions.

Publications

2017
W. Kehl, F. Tombari, S. Ilic, N. Navab
Real-Time 3D Model Tracking in Color and Depth on a Single CPU Core
Conference on Computer Vision and Pattern Recognition (CVPR), Honolulu, USA, July 2017 (bib)
T. Birdal, S. Ilic
CAD Priors for Accurate and Flexible Instance Reconstruction
International Conference on Computer Vision (ICCV), Venice, Italy, October 2017 (bib)
W. Kehl, F. Manhardt, F. Tombari, S. Ilic, N. Navab
SSD-6D: Making RGB-Based 3D Detection and 6D Pose Estimation Great Again
International Conference on Computer Vision (ICCV), Venice, Italy, October 2017 [oral].
The first two authors contributed equally to this paper.
(bib)
T. Birdal, S. Ilic
A Point Sampling Algorithm for 3D Matching of Irregular Geometries
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, September 2017 (bib)
2016
W. Kehl, F. Milletari, F. Tombari, S. Ilic, N. Navab
Deep Learning of Local RGB-D Patches for 3D Object Detection and 6D Pose Estimation
European Conference On Computer Vision (ECCV), Amsterdam, The Netherlands, October 2016 (bib)
2015
W. Kehl, F. Tombari, N. Navab, S. Ilic, V. Lepetit
Hashmod: A Hashing Method for Scalable 3D Object Detection
British Machine Vision Conference (BMVC), Swansea, UK, September 2015 (bib)
T. Birdal, S. Ilic
Point Pair Features Based Object Detection and Pose Estimation Revisited
IEEE Computer Society Conference on 3D Vision (3DV), Lyon, France, October 2015 (poster) (bib)
2013
B. Drost, S. Ilic
A Hierarchical Voxel Hash for Fast 3D Nearest Neighbor Lookup
German Conference on Pattern Recognition (GCPR), Saarbruecken, Germany, September 2013. (bib)
2012
S. Hinterstoisser, C. Cagniart, S. Ilic, P. Sturm, N. Navab, P. Fua, V. Lepetit
Gradient Response Maps for Real-Time Detection of Texture-Less Objects
IEEE Transactions on Pattern Analysis and Maschine Intelligence (TPAMI). (bib)
S. Hinterstoisser, V. Lepetit, S. Ilic, S. Holzer, G. Bradski, K. Konolige, N. Navab
Model Based Training, Detection and Pose Estimation of Texture-Less 3D Objects in Heavily Cluttered Scenes
Asian Conference on Computer Vision (ACCV), Korea, Daejeon, November 2012 (bib)
B. Drost, S. Ilic
3D Object Detection and Localization Using Multimodal Point Pair Features
Second Joint 3DIM/3DPVT Conference: 3D Imaging, Modeling, Processing, Visualization & Transmission (3DIMPVT), Zurich, Switzerland, October 2012. (bib)
2011
S. Hinterstoisser, S. Holzer, C. Cagniart, S. Ilic, K. Konolige, N. Navab, V. Lepetit
Multimodal Templates for Real-Time Detection of Texture-less Objects in Heavily Cluttered Scenes (Oral)
IEEE International Conference on Computer Vision (ICCV), Barcelona, Spain, November 2011. (bib)
2010
S. Hinterstoisser, V. Lepetit, S. Ilic, P. Fua, N. Navab
Dominant Orientation Templates for Real-Time Detection of Texture-Less Objects
IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR), San Francisco, California (USA), June 2010. (bib)
B. Drost, Markus Ulrich, N. Navab, S. Ilic
Model Globally, Match Locally: Efficient and Robust 3D Object Recognition
IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR), San Francisco, California (USA), June 2010. (bib)

Team

Contact Person(s)

Federico Tombari
Dr. Federico Tombari

Working Group

Bertram Drost
Bertram Drost
David Tan
David Tan
Federico Tombari
Dr. Federico Tombari
Keisuke Tateno
Keisuke Tateno
Slobodan Ilic
Dr. Slobodan Ilic
Tolga Birdal
M.Sc. Tolga Birdal
Wadim Kehl
M.Sc. Wadim Kehl

Alumni

Stefan Hinterstoisser
Dr. Stefan Hinterstoisser

Location



Technische Universität München
Institut für Informatik / I16
Boltzmannstr. 3
85748 Garching bei München

Tel.: +49 89 289-17058
Fax: +49 89 289-17059
Visit our lab at Garching.



internal project page

Please contact Federico Tombari for available student projects within this research project.

Edit | Attach | Refresh | Diffs | More | Revision r1.4 - 25 Aug 2016 - 14:17 - WadimKehl

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