KIPS Transactions on Software and Data Engineering (정보처리학회논문지:소프트웨어 및 데이터공학)

Korea Information Processing Society (한국정보처리학회)
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Design of the 3D Object Recognition System with Hierarchical Feature Learning

계층적 특징 학습을 이용한 3차원 물체 인식 시스템의 설계

  • 김주희 (경기대학교 컴퓨터과학과) ;
  • 김동하 (경기대학교 컴퓨터과학과) ;
  • 김인철 (경기대학교 컴퓨터과학과)
  • Received : 2015.06.22
  • Accepted : 2015.11.14
  • Published : 2016.01.31
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Abstract

In this paper, we propose an object recognition system that can effectively find out its category, its instance name, and several attributes from the color and depth images of an object with hierarchical feature learning. In the preprocessing stage, our system transforms the depth images of the object into the surface normal vectors, which can represent the shape information of the object more precisely. In the feature learning stage, it extracts a set of patch features and image features from a pair of the color image and the surface normal vector through two-layered learning. And then the system trains a set of independent classification models with a set of labeled feature vectors and the SVM learning algorithm. Through experiments with UW RGB-D Object Dataset, we verify the performance of the proposed object recognition system.

본 논문에서는 계층적 특징 학습을 이용하여 물체의 컬러 영상과 깊이 영상으로부터 해당 물체가 속한 범주와 개체, 그리고 다양한 속성들을 효과적으로 인식할 수 있는 시스템을 제안한다. 본 시스템의 전처리 단계에서는 물체의 깊이 영상을 물체의 모양 정보를 좀 더 효과적으로 표현할 수 있는 표면 법선 벡터 데이터로 변환하고, 특징 학습 단계에서는 물체의 컬러 영상과 표면 법선 벡터 데이터로부터 두 단계에 걸쳐 패치 단위 특징과 이미지 단위의 특징을 추출해낸다. 그리고 추출된 특징 벡터들과 SVM 학습 알고리즘을 이용하여 각기 독립적인 다수의 분류 모델들을 학습한다. 미국 워싱턴 대학의 RGB-D 물체 데이터 집합을 이용한 실험을 통해, 본 논문에서 제안하는 물체 인식 시스템의 높은 성능을 확인할 수 있었다.

Keywords

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