In the context of 2D 3D registration, this paper introduces an approach that allows for matching features detected in two different modalities, photographs, and 3D models, by using a common 2D representation. More precisely, 2D images are matched with a set of depth images representing the 3D model. After introducing the concept of Curvilinear Saliency, which is related to curvature estimation, we propose a new ridge and valley detector for depth images rendered from 3D models. A variant of this detector is adapted to photographs, first by considering multi-scale features and second by integrating the focus curve principle. Finally, a registration algorithm determines the correct view of the 3D model and, thus, the pose of the photograph. This approach relies on the Histogram of Curvilinear Saliency (HCS), an adaptation of the Histogram of Oriented Gradients (HOG) to the proposed features in 2D and 3D. The presented results highlight both the quality of the features detected in terms of repeatability and the interest of the approach for registration and pose estimation.
Curvature detection is one of the most important techniques of second-order derivative-based approaches used for extracting the structure properties. Recently, @cite_17 has proposed a detector based on curvature @math expressed as the change of the image gradient along the tangent to obtain a scalar @math approximating @math . In addition, @cite_0 presented PCBR, Principal Curvature-Based Regions, detector that uses the maximum or minimum eigenvalue of the Hessian matrix to find the principal curvature in a multi-scale space. As mentioned in @cite_0 , the maximum eigenvalue yields a high value only for the dark side of edges, i.e. the minimum eigenvalue detects light lines on a dark background. By definition, it is a restrictive way to select features and it does not guarantee to select the maximal number of reliable features.
@cite_0 @cite_17
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This paper presents a new structure-based interest region detector called principal curvature-based regions (PCBR) which we use for object class recognition. The PCBR interest operator detects stable watershed regions within the multi-scale principal curvature image. To detect robust watershed regions, we "clean" a principal curvature image by combining a grayscale morphological close with our new "eigenvectorflow" hysteresis threshold. Robustness across scales is achieved by selecting the maximally stable regions across consecutive scales. PCBR typically detects distinctive patterns distributed evenly on the objects and it shows significant robustness to local intensity perturbations and intra-class variations. We evaluate PCBR both qualitatively (through visual inspection) and quantitatively (by measuring repeatability and classification accuracy in real-world object-class recognition problems). Experiments on different benchmark datasets show that PCBR is comparable or superior to state-of-art detectors for both feature matching and object recognition. Moreover, we demonstrate the application of PCBR to symmetry detection. Descriptors based on orientation histograms are widely used in computer vision. The spatial pooling involved in these representations provides important invariance properties, yet it is also responsible for the loss of important details. In this paper, we suggest a way to preserve the details described by the local curvature. We propose a descriptor that comprises the direction and magnitude of curvature and naturally expands classical orientation histograms like SIFT and HOG. We demonstrate the general benefit of the expansion exemplarily for image classification, object detection, and descriptor matching.