Textureless Object Recognition: An Edge-based Approach

Textureless object recognition has become a significant task in Computer Vision with the advent of Robotics and its applications in manufacturing sector. It has been challenging to obtain good accuracy in real time because of its lack of discriminative features and reflectance properties which makes the techniques for textured object recognition insufficient for textureless objects. A lot of work has been done in the last 20 years, especially in the recent 5 years after the TLess and other textureless dataset were introduced. In this project, by applying image processing techniques we created a robust augmented dataset from initial imbalanced smaller dataset. We extracted edge features, feature combinations and RGB images enhanced with feature/feature combinations to create 15 datasets, each with a size of ~340,000. We then trained four classifiers on these 15 datasets to arrive at a conclusion as to which dataset performs the best overall and whether edge features are important for textureless objects. Based on our experiments and analysis, RGB images enhanced with combination of 3 edge features performed the best compared to all others. Model performance on dataset with HED edges performed comparatively better than other edge detectors like Canny or Prewitt.

A Review of methods for Textureless Object Recognition

Textureless object recognition has become a significant task in Computer Vision with the advent of Robotics and its applications in manufacturing sector. It has been very challenging to get good performance because of its lack of discriminative features and reflectance properties. Hence, the approaches used for textured objects cannot be applied for textureless objects. A lot of work has been done in the last 20 years, especially in the recent 5 years after the TLess and other textureless dataset were introduced. In our research, we plan to combine image processing techniques (for feature enhancement) along with deep learning techniques (for object recognition). Here we present an overview of the various existing work in the field of textureless object recognition, which can be broadly classified into View-based, Feature-based and Shape-based. We have also added a review of few of the research papers submitted at the International Conference on Smart Multimedia, 2018. Index terms: Computer Vision, Textureless object detection, Textureless object recognition, Feature-based, Edge detection, Deep Learning