Abstract
In robotic applications, highly specific objects such as industrial parts, for example, often need to be recognized. In these cases methods can’t rely on the online availability of large labeled training data sets or pre-trained models. This is especially true for depth data, thus making it challenging for deep learning (DL) approaches. Therefore, this work analyzes the performance of various traditional (global or part-based) and DL features on a restricted depth data set, depending on the tasks complexity. While the sample size is small, we can conclude that pre-trained DL descriptors are the most descriptive, but not by a statistically significant margin and therefore part-based descriptors are still a viable option for small, but difficult 3D data sets.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Aldoma, A., Tombari, F., Rusu, R.B., Vincze, M.: OUR-CVFH – oriented, unique and repeatable clustered viewpoint feature histogram for object recognition and 6DOF pose estimation. In: Pinz, A., Pock, T., Bischof, H., Leberl, F. (eds.) DAGM/OAGM 2012. LNCS, vol. 7476, pp. 113–122. Springer, Heidelberg (2012). https://doi.org/10.1007/978-3-642-32717-9_12
Aldoma, A., et al.: CAD-model recognition and 6DOF pose estimation using 3D cues. In: 2011 IEEE International Conference on Computer Vision Workshops (ICCV Workshops), pp. 585–592. IEEE, November 2011. http://dx.doi.org/10.1109/iccvw.2011.6130296
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). http://dx.doi.org/10.1109/34.121791
Bracci, F., Hillenbrand, U., Marton, Z.-C., Wilkinson, M.H.F.: On the use of the tree structure of depth levels for comparing 3D object views. In: Felsberg, M., Heyden, A., Krüger, N. (eds.) CAIP 2017. LNCS, vol. 10424, pp. 251–263. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-64689-3_21
Jia, Y., et al.: Caffe: convolutional architecture for fast feature embedding. In: Proceedings of the 22nd ACM International Conference on Multimedia, MM 2014, pp. 675–678. ACM, New York (2014). http://doi.acm.org/10.1145/2647868.2654889
Kingma, D.P.: Variational inference & deep learning: A new synthesis. Intelligent Sensory Information Systems (IVI, FNWI) (2017). http://dare.uva.nl/personal/pure/en/publications/variational-inference-deep-learning(8e55e07f-e4be-458f-a929-2f9bc2d169e8).html
Kossyk, I., Marton, Z.S.: Discriminative regularization of the latent manifold of variational auto-encoders for semi-supervised recognition. Online (2017). https://tinyurl.com/y8p3tjle
Krizhevsky, A., Sutskever, I., Hinton, G.E.: Imagenet classification with deep convolutional neural networks. In: Advances in Neural Information Processing Systems, vol. 25 (2012). http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.299.205
Masci, J., Rodolà, E., Boscaini, D., Bronstein, M.M., Li, H.: Geometric deep learning. In: SIGGRAPH ASIA 2016 Courses, SA 2016. ACM, New York (2016). http://dx.doi.org/10.1145/2988458.2988485
Pratikakis, I., et al.: SHREC 2010 - Shape Retrieval Contest of Range Scans. http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.361.8068
Razavian, A.S., Azizpour, H., Sullivan, J., Carlsson, S.: CNN Features off-the-shelf: an astounding baseline for recognition, May 2014. http://arxiv.org/abs/1403.6382
Russakovsky, O., et al.: ImageNet large scale visual recognition challenge. Int. J. Comput. Vis. 115, 211–252 (2015). Springer, US. http://dx.doi.org/10.1007/s11263-015-0816-y
Rusu, R.B., Blodow, N., Beetz, M.: Fast point feature histograms (FPFH) for 3D registration. In: The IEEE International Conference on Robotics and Automation (ICRA), Kobe, Japan (2009). http://files.rbrusu.com/publications/Rusu09ICRA.pdf
Rusu, R.B., Bradski, G., Thibaux, R., Hsu, J.: Fast 3D recognition and pose using the viewpoint feature histogram. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2155–2162. IEEE, October 2010. http://dx.doi.org/10.1109/iros.2010.5651280
Rusu, R.B., Cousins, S.: 3D is here: point cloud library (PCL). In: 2011 IEEE International Conference on Robotics and Automation, pp. 1–4. IEEE, May 2011. http://dx.doi.org/10.1109/icra.2011.5980567
Simonyan, K., Zisserman, A.: Very Deep Convolutional Networks for Large-Scale Image Recognition, April 2015. http://arxiv.org/abs/1409.1556v5.pdf
Song, X., Herranz, L., Jiang, S.: Depth CNNs for RGB-D scene recognition: learning from scratch better than transferring from RGB-CNNs. Ar**v e-prints, January 2018. http://arxiv.org/abs/1801.06797
Ullrich, M., Ali, H., Durner, M., Marton, Z.C., Triebel, R.: Selecting CNN features for online learning of 3D objects. In: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5086–5091. IEEE, September 2017. http://dx.doi.org/10.1109/iros.2017.8206393
Zaki, H.F.M., Shafait, F., Mian, A.: Convolutional hypercube pyramid for accurate RGB-D object category and instance recognition. In: 2016 IEEE International Conference on Robotics and Automation (ICRA), pp. 1685–1692. IEEE, May 2016. http://dx.doi.org/10.1109/icra.2016.7487310
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Bracci, F., Li, M., Kossyk, I., Marton, ZC. (2019). Applicability of Deep Learned vs Traditional Features for Depth Based Classification. In: Barneva, R., Brimkov, V., Kulczycki, P., Tavares, J. (eds) Computational Modeling of Objects Presented in Images. Fundamentals, Methods, and Applications. CompIMAGE 2018. Lecture Notes in Computer Science(), vol 10986. Springer, Cham. https://doi.org/10.1007/978-3-030-20805-9_13
Download citation
DOI: https://doi.org/10.1007/978-3-030-20805-9_13
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-20804-2
Online ISBN: 978-3-030-20805-9
eBook Packages: Computer ScienceComputer Science (R0)