Contour localization based on matching dense HexHoG descriptors

Liu, Y. and Siebert, J. P. (2014) Contour localization based on matching dense HexHoG descriptors. In: VISAPP 2014 : International Conference on Computer Vision Theory and Applications, Lisbon, Portugal, 5 - 8 Jan 2014,

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Publisher's URL: http://www.visapp.visigrapp.org/?y=2014

Abstract

The ability to detect and localize an object of interest from a captured image containing a cluttered background is an essential function for an autonomous robot operating in an unconstrained environment. In this paper, we present a novel approach to refining the pose estimate of an object and directly labelling its contours by dense local feature matching. We perform this task using a new image descriptor we have developed called the Hex-HoG. Our key novel contribution is the formulation of HexHoG descriptors comprising hierarchical groupings of rotationally invariant (S)HoG fields, sampled on a hexagonal grid. These HexHoG groups are centred on detected edges and therefore sample the image relatively densely. This formulation allows arbitrary levels of rotation-invariant HexHoG grouped descriptors to be implemented efficiently by recursion. We present the results of an evaluation based on the ALOI image dataset which demonstrates that our proposed approach can significantly improve an initial pose estimation based on image matching using standard SIFT descriptors. In addition, this investigation presents promising contour labelling results based on processing 5000 images derived from the 1000 image ALOI dataset.

Item Type:Conference Proceedings
Keywords:Feature Extraction, Local Matching, Object Detection, Edge Detection, Boundary Labeling, Segmentation Features, HexHoG Descriptors
Status:Published
Refereed:Yes
Glasgow Author(s) Enlighten ID:Siebert, Dr Jan
Authors: Liu, Y., and Siebert, J. P.
Subjects:Q Science > Q Science (General)
Q Science > QA Mathematics > QA75 Electronic computers. Computer science
College/School:College of Science and Engineering > School of Computing Science
Research Group:Computer Vision & Graphics

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Project CodeAward NoProject NamePrincipal InvestigatorFunder's NameFunder RefLead Dept
UNSPECIFIEDUNSPECIFIEDUNSPECIFIEDUNSPECIFIEDChinese Scholarship CouncilUNSPECIFIEDUNSPECIFIED
571501CloPeMa: Clothes Perception and ManipulationJan SiebertEuropean Commission (EC)288553COM - COMPUTING SCIENCE