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Underwater Object Recognition Using Point-Features, Bayesian Estimation and Semantic Information

Underwater Robotics Research Center (CIRS), Computer Vision and Robotics Institute (VICOROB), University of Girona, Parc Científic i Tecnològic UdG C/Pic de Peguera 13, 17003 Girona, Spain
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Academic Editor: Nikolaos Doulamis
Sensors 2021, 21(5), 1807; https://doi.org/10.3390/s21051807
Received: 4 February 2021 / Revised: 18 February 2021 / Accepted: 23 February 2021 / Published: 5 March 2021
(This article belongs to the Section Intelligent Sensors)
This paper proposes a 3D object recognition method for non-coloured point clouds using point features. The method is intended for application scenarios such as Inspection, Maintenance and Repair (IMR) of industrial sub-sea structures composed of pipes and connecting objects (such as valves, elbows and R-Tee connectors). The recognition algorithm uses a database of partial views of the objects, stored as point clouds, which is available a priori. The recognition pipeline has 5 stages: (1) Plane segmentation, (2) Pipe detection, (3) Semantic Object-segmentation and detection, (4) Feature based Object Recognition and (5) Bayesian estimation. To apply the Bayesian estimation, an object tracking method based on a new Interdistance Joint Compatibility Branch and Bound (IJCBB) algorithm is proposed. The paper studies the recognition performance depending on: (1) the point feature descriptor used, (2) the use (or not) of Bayesian estimation and (3) the inclusion of semantic information about the objects connections. The methods are tested using an experimental dataset containing laser scans and Autonomous Underwater Vehicle (AUV) navigation data. The best results are obtained using the Clustered Viewpoint Feature Histogram (CVFH) descriptor, achieving recognition rates of 51.2%, 68.6% and 90%, respectively, clearly showing the advantages of using the Bayesian estimation (18% increase) and the inclusion of semantic information (21% further increase). View Full-Text
Keywords: 3D object recognition; point clouds; global descriptors; semantic segmentation; semantic information; Bayesian probabilities; laser scanner; underwater environment; pipeline detection; inspection; maintenance and repair; AUV; autonomous manipulation; multi-object tracking; JCBB 3D object recognition; point clouds; global descriptors; semantic segmentation; semantic information; Bayesian probabilities; laser scanner; underwater environment; pipeline detection; inspection; maintenance and repair; AUV; autonomous manipulation; multi-object tracking; JCBB
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MDPI and ACS Style

Himri, K.; Ridao, P.; Gracias, N. Underwater Object Recognition Using Point-Features, Bayesian Estimation and Semantic Information. Sensors 2021, 21, 1807. https://doi.org/10.3390/s21051807

AMA Style

Himri K, Ridao P, Gracias N. Underwater Object Recognition Using Point-Features, Bayesian Estimation and Semantic Information. Sensors. 2021; 21(5):1807. https://doi.org/10.3390/s21051807

Chicago/Turabian Style

Himri, Khadidja, Pere Ridao, and Nuno Gracias. 2021. "Underwater Object Recognition Using Point-Features, Bayesian Estimation and Semantic Information" Sensors 21, no. 5: 1807. https://doi.org/10.3390/s21051807

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