Method: Drost-CVPR10-Edges-Fast

User Berti
Publication Drost et al., Model globally, match locally: Efficient and robust 3D object recognition, CVPR 2010.
Training image modalities None
Test image modalities RGB-D

An implementation of the paper, including - ICP for post-processing - using 3D surface and 3D edges for voting - using 3D surface, 3D edges and 2D images for refinement

The parameters are set to a faster, less accurate mode (relative sampling distance of 0.05 for model creation and matching).

Implementation: HALCON 19.05 progress.

Computer specifications Max. 12 Threads on intel Xeon CPU E5-2690 v4 @ 2.60GHz, 2601 Mhz

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