Kinect센서를 이용한 물체 인식 및 자세 추정을 위한정확도 개선 방법

Abstract

This paper presents a method of improving the pose recognition accuracy of objects by usingKinect sensor. First, by using the SURF algorithm, which is one of the most widely used local featurespoint algorithms, we modify inner parameters of the algorithm for efficient object recognition. Theproposed method is adjusting the distance between the box filter, modifying Hessian matrix, andeliminating improper key points. In the second, the object orientation is estimated based on thehomography. Finally the novel approach of Auto-scaling method is proposed to improve accuracy ofobject pose estimation. The proposed algorithm is experimentally tested with objects in the plane and itseffectiveness is validated.