ICRA 2018poster8 citations
Signature of Topologically Persistent Points for 3D Point Cloud Description
William J. Beksi, Nikolaos Papanikolopoulos
Abstract
We present the Signature of Topologically Persistent Points (STPP), a global descriptor that encodes topological invariants of 3D point cloud data. These topological invariants include the zeroth and first homology groups and are computed using persistent homology, a method for finding the features of a topological space at different spatial resolutions. STPP is a competitive 3D point cloud descriptor when compared to the state of art and is resilient to noisy sensor data. We demonstrate experimentally on a publicly available RGB-D dataset that STPP can be used as a distinctive signature, thus allowing for 3D point cloud processing tasks such as object detection and classification.
BibTeX
@inproceedings{icra2018_signatureoftopol,
title = {Signature of Topologically Persistent Points for 3D Point Cloud Description},
author = {William J. Beksi and Nikolaos Papanikolopoulos},
booktitle = {ICRA 2018},
year = {2018}
}