论文标题
使用球形谐波的强大对象分类方法
Robust Object Classification Approach using Spherical Harmonics
论文作者
论文摘要
在本文中,我们为基于点云对象的分类提供了强大的球形谐波方法。多年来,球形谐波已用于分类,文献中存在几个框架。这些方法使用各种基于球形谐波的描述符来对对象进行分类。我们首先研究了这些框架对数据增强的鲁棒性,例如异常值和噪声,因为它以前尚未研究过。然后,我们提出了一个用于强大对象分类的球形卷积神经网络框架。所提出的框架使用同心球的体素网格来学习单位球上的特征。我们提出的模型学习功能,由于所选的采样策略和设计的卷积操作,对数据的敏感不太敏感。我们针对几种类型的数据增强(例如噪声和异常值)测试了我们提出的模型。我们的结果表明,所提出的模型在数据增强方面优于最先进的网络。
In this paper, we present a robust spherical harmonics approach for the classification of point cloud-based objects. Spherical harmonics have been used for classification over the years, with several frameworks existing in the literature. These approaches use variety of spherical harmonics based descriptors to classify objects. We first investigated these frameworks robustness against data augmentation, such as outliers and noise, as it has not been studied before. Then we propose a spherical convolution neural network framework for robust object classification. The proposed framework uses the voxel grid of concentric spheres to learn features over the unit ball. Our proposed model learn features that are less sensitive to data augmentation due to the selected sampling strategy and the designed convolution operation. We tested our proposed model against several types of data augmentation, such as noise and outliers. Our results show that the proposed model outperforms the state of art networks in terms of robustness to data augmentation.