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Advanced Techniques for 3D Object Recognition Using 2-Simplex Meshes

Explore the latest approaches in 3D object recognition, including appearance-based matching, feature matching, and regular mesh tessellation using 2-Simplex Meshes. Learn how to leverage spherical attribute images for accurate recognition. Dive into popular techniques like building attributed graphs and fine sampling of the view sphere for optimal results. Discover how edge removal and modifications in 2-Simplex Meshes enhance recognition accuracy. For further insights, delve into the realm of spherical attribute images for comprehensive 3D vehicle recognition.

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Advanced Techniques for 3D Object Recognition Using 2-Simplex Meshes

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  1. 3D Object Recognition and 2-Simplex Meshes By Gerald Dalley

  2. Overview • Some popular 3D object recognition techniques • Appearance-based matching • Feature matching • Regular mesh tesselation • 2-Simplex Meshes • Spherical Attribute Images • For further reading 3D Vehicle Recognition

  3. Popular Recognition Techniques:Appearance-Based Matching • Basic steps • Sample a view-sphere • Record feature measurements as observable from a camera at each view-sphere sample point (create templates) • Compare observed data with each template from each model • Choose the model and orientation that provides the best match • Requires sufficiently fine sampling of the view sphere 3D Vehicle Recognition

  4. Popular Recognition Techniques:Feature Matching • Ravi’s work, Rick’s local features • Basic steps • Find features invariant to rotation and translation • Build an attributed graph • Nodes: features • Arcs: spatial arrangement • Choose the model whose graph is most similar 3D Vehicle Recognition

  5. Popular Recognition Techniques:Regular Mesh Tesselation • “Regularly” sample the mesh • Square grid • Triangularization • 2-Simplex • Measure feature values at mesh vertices • Vertex-by-vertex comparison Image from [3] 3D Vehicle Recognition

  6. 2-Simplex Meshes • Dual of triangularization • Triangle face  simplex vertex • Triangle vertex  simplex face 3D Vehicle Recognition

  7. 2-Simplex Meshes:Two Examples 3D Vehicle Recognition

  8. f1 and f3merged f2 f4 2-Simplex Meshes:Topological & Geometric Modifications f1 V1 f2 f4 V2 f3 f1 V1' f2 f4 Edge Swap Edge Removal V2' f3 3D Vehicle Recognition

  9. 2-Simplex Meshes:Edge Removal Example 3D Vehicle Recognition

  10. 2D Contour SAI: Point size  vertex curvature 1-Simplex Mesh Spherical Attribute Images 3D Vehicle Recognition

  11. Spherical Attribute Images:2D SAI Examples 3D Vehicle Recognition

  12. Spherical Attribute Images:Recognition 3D Vehicle Recognition

  13. Further Reading 3D Vehicle Recognition

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