This study questions why existing local shape descriptors have high dimensionalities (up to hundreds) despite simplicity of local shapes. We derived an answer from a historical context and provided an alternative solution by proposing a new compact descriptor. Although existing descriptors can express complicated shapes and depth sensors have been improved, complex shapes are rarely observed in an ordinary environment and a depth sensor only captures a single side of a surface with noise. Therefore, we designed a new descriptor based on principal curvatures, which is compact but practically useful. For verification, the CoRBS dataset, the RGB-D Scenes dataset and the RGB-D Object dataset were used to compare the proposed descriptor with existing descriptors in terms of shape, instance, and category recognition rate. The proposed descriptor showed a comparable performance with existing descriptors despite its low dimensionality of 4.
Bibliographical noteFunding Information:
This research was supported by the Industrial Strategic technology development, 10047635, Development of Hydraulic Robot Control Technology based on Accurate and Fast Force Control for Complex Tasks funded By the Ministry of Trade, Industry & Energy (MI, Korea).
All Science Journal Classification (ASJC) codes
- Analytical Chemistry
- Atomic and Molecular Physics, and Optics
- Electrical and Electronic Engineering