Abstract

A method for object recognition based on the use of a structural description of images of three-dimensional scenes is proposed, and it is experimentally compared with existing analogues. A quantitative assessment of the recognition accuracy and speed of the studied methods is presented. Methods for detecting key points and building image descriptors in three-dimensional space are studied. The algorithm developed here can be used to address issues with mobile robot and unmanned aerial vehicle navigation under the conditions characterized by a high degree of a priori uncertainty of the scene.

© 2018 Optical Society of America

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