The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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A Method for Improving Accuracy of Object Recognition and Pose Estimation by Using Kinect sensor

Kinect센서를 이용한 물체 인식 및 자세 추정을 위한 정확도 개선 방법

  • Received : 2014.10.04
  • Accepted : 2015.01.07
  • Published : 2015.02.27
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Abstract

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

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References

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