A Comparative Evaluation of 3D Keypoint Detectors in a RGB-D Object Dataset

Silvio Filipe, Luís A. Alexandre

Abstract

When processing 3D point cloud data, features must be extracted from a small set of points, usually called keypoints. This is done to avoid the computational complexity required to extract features from all points in a point cloud. There are many keypoint detectors and this suggests the need of a comparative evaluation. When the keypoint detectors are applied to 3D objects, the aim is to detect a few salient structures which can be used, instead of the whole object, for applications like object registration, retrieval and data simplification. In this paper, we propose to do a description and evaluation of existing keypoint detectors in a public available point cloud library with real objects and perform a comparative evaluation on 3D point clouds. We evaluate the invariance of the 3D keypoint detectors according to rotations, scale changes and translations. The evaluation criteria used are the absolute and the relative repeatability rate. Using these criteria, we evaluate the robustness of the detectors with respect to changes of point-of-view. In our experiments, the method that achieved better repeatability rate was the ISS3D method.

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Paper Citation


in Harvard Style

Filipe S. and A. Alexandre L. (2014). A Comparative Evaluation of 3D Keypoint Detectors in a RGB-D Object Dataset . In Proceedings of the 9th International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2014) ISBN 978-989-758-003-1, pages 476-483. DOI: 10.5220/0004679904760483


in Bibtex Style

@conference{visapp14,
author={Silvio Filipe and Luís A. Alexandre},
title={A Comparative Evaluation of 3D Keypoint Detectors in a RGB-D Object Dataset},
booktitle={Proceedings of the 9th International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2014)},
year={2014},
pages={476-483},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004679904760483},
isbn={978-989-758-003-1},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 9th International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2014)
TI - A Comparative Evaluation of 3D Keypoint Detectors in a RGB-D Object Dataset
SN - 978-989-758-003-1
AU - Filipe S.
AU - A. Alexandre L.
PY - 2014
SP - 476
EP - 483
DO - 10.5220/0004679904760483