Signature of Topologically Persistent Points for 3D Point Cloud Description

William J. Beksi; Nikolaos P Papanikolopoulos

doi:10.1109/ICRA.2018.8460605

Signature of Topologically Persistent Points for 3D Point Cloud Description

William J. Beksi, Nikolaos P Papanikolopoulos

Computer Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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.

Original language	English (US)
Title of host publication	2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3229-3234
Number of pages	6
ISBN (Electronic)	9781538630815
DOIs	https://doi.org/10.1109/ICRA.2018.8460605
State	Published - Sep 10 2018
Event	2018 IEEE International Conference on Robotics and Automation, ICRA 2018 - Brisbane, Australia Duration: May 21 2018 → May 25 2018

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Country	Australia
City	Brisbane
Period	5/21/18 → 5/25/18

Access

10.1109/ICRA.2018.8460605

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Beksi, W. J., & Papanikolopoulos, N. P. (2018). Signature of Topologically Persistent Points for 3D Point Cloud Description. In 2018 IEEE International Conference on Robotics and Automation, ICRA 2018 (pp. 3229-3234). [8460605] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2018.8460605

Signature of Topologically Persistent Points for 3D Point Cloud Description. / Beksi, William J.; Papanikolopoulos, Nikolaos P.

2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 3229-3234 8460605 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Beksi, WJ & Papanikolopoulos, NP 2018, Signature of Topologically Persistent Points for 3D Point Cloud Description. in 2018 IEEE International Conference on Robotics and Automation, ICRA 2018., 8460605, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 3229-3234, 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, Australia, 5/21/18. https://doi.org/10.1109/ICRA.2018.8460605

Beksi WJ, Papanikolopoulos NP. Signature of Topologically Persistent Points for 3D Point Cloud Description. In 2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 3229-3234. 8460605. (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2018.8460605

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