Tripod operators for efficient search of point cloud data for known surface shapes

Frank Pipitone; Charmaine Gilbreath; David Bonanno

doi:10.1117/12.924831

7 May 2012 Tripod operators for efficient search of point cloud data for known surface shapes

Frank Pipitone, Charmaine Gilbreath, David Bonanno

Proceedings Volume 8382, Active and Passive Signatures III; 83820O (2012) https://doi.org/10.1117/12.924831
Event: SPIE Defense, Security, and Sensing, 2012, Baltimore, Maryland, United States

Abstract

We address the problem of searching large amounts of 3D point set data for specific objects of interest, as characterized by their surface shape. Motivating applications include the detection of ambush weapons from a convoy and the search for objects of interest on the ground from an aircraft. Such data can occur in the form of relatively unstructured point sets or range images, and can be derived from a variety of sensors. We study here the performance of Tripod Operators (TOs) on synthetic range image data containing the shape of an oil drum; a cylinder with planar top. Tripod Operators are an efficient method of extracting coordinate invariant shape information from surface shape representations using discrete samples extracted in a specially constrained manner. They can be used in a variety of ways as components of a system which performs detection, recognition and localization of objects based on their surface shape. We present experimental results which characterize the approximate accuracy of detection of the test shape as a function of the accuracy of the surface shape data. This is motivated by the need for an estimate of the required accuracy of 3D surveillance data to enable detection of specific shapes.

Citation Download Citation

Frank Pipitone, Charmaine Gilbreath, and David Bonanno "Tripod operators for efficient search of point cloud data for known surface shapes", Proc. SPIE 8382, Active and Passive Signatures III, 83820O (7 May 2012); https://doi.org/10.1117/12.924831

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