Abstract
In this paper, the shape alignment method that takes into account large objects with very limited visibility and significant occlusions utilizing an octree data structure on the GPU is presented. The proposed algorithm relies on the offline computed 3D model of the object and an initial estimation of it’s pose using a deep learning technique to detect key features of the object, in order to improve the accuracy and the speed of the registration process. The final aligned pose is achieved by computing the iterative closest point algorithm on GPU utilizing octree, starting from the initial estimated pose. To highlight the application of the proposed method, autonomous robotic tasks requiring interaction with washing machine is discussed. Finally, the performance in terms of both speed and accuracy of the different implementations of the algorithm on the CPU and GPU, as well as with and without augmented octree neighbourhood search is provided.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Abadi, A. et al.: TensorFlow: Large-scale machine learning on heterogeneous systems (2015). Software available from tensorflow.org
AraĂºjo, H., Carceroni, R., Brown, C.M.: A Fully Projective Formulation for Lowe’s Tracking Algorithm (1996)
Besl, P.J., McKay, N.D.: A method for registration of 3-d shapes. IEEE Trans. Pattern Anal. Mach. Intell. 14(2), 239–256 (1992)
Chen, Y., Medioni, G.: Object modeling by registration of multiple range images. In: Proceedings. 1991 IEEE International Conference on Robotics and Automation, vol. 3, pp. 2724–2729 (1991)
Elseberg, J., Borrmann, D., Nuchter, A.: Efficient processing of large 3d point clouds, 10 (2011)
Elseberg, J., Magnenat, S., Siegwart, R., Nuchter, A.: Comparison on nearest-neigbour-search strategies and implementations for efficient shape registration. J. Softw. Eng. Robot. (JOSER) 3, 2–12 (2012)
Gao, X.-S., Hou, X.-R., Tang, J., Cheng, H.-F.: Complete solution classification for the perspective-three-point problem. IEEE Trans. Pattern Anal. Mach. Intell. 25(8), 930–943 (2003)
Garrido-Jurado, S., Muñz-Salinas, R., Madrid-Cuevas, F., MarĂn-JimĂ©nez, M.: Automatic generation and detection of highly reliable fiducial markers under occlusion. Pattern Recogn. 47, 2280–2292 (2014)
Girshick, R.B., Donahue, J., Darrell, T., Malik, J.: Rich feature hierarchies for accurate object detection and semantic segmentation. CoRR, abs/1311.2524 (2013)
He, K., Zhang, X., Ren, S., Sun, J.: Deep residual learning for image recognition. CoRR, abs/1512.03385 (2015)
Holz, D., Ichim, A.E., Tombari, F., Rusu, R.B., Behnke, S.: Registration with the point cloud library: a modular framework for aligning in 3-d. IEEE Robot. Autom., Mag. 22, 110–124 (2015)
Jian, B., Vemuri, B.C.: Robust point set registration using gaussian mixture models. IEEE Trans. Pattern Anal. Mach. Intell. 33(8), 1633–1645 (2011)
Le, H., Do, T.-T., Hoang, T., Cheung, N.-M.: SDRSAC: semidefinite-based randomized approach for robust point cloud registration without correspondences. CoRR, abs/1904.03483 (2019)
Lepetit, V., Moreno-Noguer, F., Fua, P.: Epnp: an accurate o(n) solution to the pnp problem. Int. J. Comput. Vis. 81, 02 (2009)
Liu, W., Anguelov, D., Erhan, D., Szegedy, C., Reed, S.E., Fu, C.-Y., Berg, A.C.: SSD: single shot multibox detector. CoRR, abs/1512.02325 (2015)
Lowe, D.G.: Fitting parameterized three-dimensional models to images. IEEE Trans. Pattern Anal. Mach. Intell. 13(5), 441–450 (1991)
Lowe, D.G.: Three-dimensional object recognition from single two-dimensional images. Artif. Intell. 31(3), 355–395 (1987)
Lu, C.P., Hager, G., Mjolsness, E.: Fast and globally convergent pose estimation from video images. IEEE Trans. Pattern Anal. Mach. Intell. 22, 610–622 (2000)
Myronenko, A., Song, X.: Point set registration: Coherent point drift. IEEE Trans. Pattern Anal. Mach. Intell. 32(12), 2262–2275 (2010)
Ren, S., He, K., Girshick, R.B., Sun, J.: Faster R-CNN: towards real-time object detection with region proposal networks. CoRR, abs/1506.01497 (2015)
Romero-Ramirez, F., Muñoz-Salinas, R., Medina-Carnicer, R.: Speeded up detection of squared fiducial markers. Image Vis. Comput. 76, 06 (2018)
Rusinkiewicz, S. Levoy, M.: Efficient variants of the icp algorithm. In: Proceedings Third International Conference on 3-D Digital Imaging and Modeling, pp. 145–152 (2001)
Rusu, R.B., Blodow, N., Beetz, M.: Fast point feature histograms (fpfh) for 3d registration. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3212–3217 (2009)
Wehr, D., Radkowski, R.: Parallel kd-tree construction on the gpu with an adaptive split and sort strategy. Int. J. Parallel Program. 46, 12 (2018)
Weng, J., Ahuja, N., Huang, T.S.: Optimal motion and structure estimation. In: Proceedings IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 144–152 (1989)
Yang, J., Li, H., Campbell, D., Jia, Y.: Go-icp: a globally optimal solution to 3d icp point-set registration. IEEE Trans. Pattern Anal. Mach. Intell. 38(11), 2241–2254 (2016)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2022 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Ahmadli, I., Bedada, W.B., Palli, G. (2022). Deep Learning and OcTree-GPU-Based ICP for Efficient 6D Model Registration of Large Objects. In: Palli, G., Melchiorri, C., Meattini, R. (eds) Human-Friendly Robotics 2021. Springer Proceedings in Advanced Robotics, vol 23. Springer, Cham. https://doi.org/10.1007/978-3-030-96359-0_3
Download citation
DOI: https://doi.org/10.1007/978-3-030-96359-0_3
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-96358-3
Online ISBN: 978-3-030-96359-0
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)