Submission: Drost-CVPR10-3D-Only-Faster/YCB-V

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Submission name
Submission time (UTC) Oct. 17, 2019, 7:05 a.m.
User Berti
Task Model-based 6D localization of seen objects
Dataset YCB-V
Training model type Default
Training image type None
Description
Evaluation scores
AR:0.330
AR_MSPD:0.244
AR_MSSD:0.279
AR_VSD:0.469
average_time_per_image:1.282

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

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

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