Submission: Drost-CVPR10-3D-Only-Faster/IC-MI

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Submission name
Submission time (UTC) Oct. 17, 2019, 7:03 a.m.
User Berti
Task 6D localization of seen objects
Dataset IC-MI
Training model type Default
Training image type None
Evaluation scores

Method: Drost-CVPR10-3D-Only-Faster

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 D

An implementation of the paper, including ICP for post-processing.

The parameters are set to a "fast" mode (relative sampling distance of 0.05 for model creation and matching).

No images are used, the method uses depth only. The training is done only on the CAD models. The method uses only the CPU, no GPU.

Additionally, the depth range for each dataset is used to limit the search range by thresholding the z-images prior to the search.

Implementation: HALCON 19.05 progress.

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