Recognitiontemplates
We first created an initial sample template repository for the experiments containing 3D images in PCL format of a set of household objects. We implemented a user-facing template data collection task in order to enable easy collection of specific object templates and submission of those templates for storage in the cloud-based repository. Figure 4.2 shows examples of the objects. Figure 4.3 show the examples of soda can template matching using the templates show in Figure 4.4.
Wethenperformedtwoexperimentstoevaluatetheaccuracyandspeedofidentificationof objectsin the data set based on novel views not present in the original repository.