RGB-D-Based Features for Recognition of Textureless Objects

  • Santosh ThodukaEmail author
  • Stepan Pazekha
  • Alexander Moriarty
  • Gerhard K. Kraetzschmar
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9776)


Autonomous industrial robots need to recognize objects robustly in cluttered environments. The use of RGB-D cameras has progressed research in 3D object recognition, but it is still a challenge for textureless objects. We propose a set of features, including the bounding box, mean circle fit and radial density distribution, that describe the size, shape and colour of objects. The features are extracted from point clouds of a set of objects and used to train an SVM classifier. Various combinations of the proposed features are tested to determine their influence on the recognition rate. Medium-sized objects are recognized with high accuracy whereas small objects have a lower recognition rate. The minimum range and resolution of the cameras are still an issue but are expected to improve as the technology improves.


Object recognition Machine learning Textureless objects RGB-D data Coloured pointclouds 



We gratefully acknowledge the continued support of the RoboCup team by the b-it Bonn-Aachen International Center for Information Technology and the Bonn-Rhein-Sieg University of Applied Sciences.


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Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  • Santosh Thoduka
    • 1
    Email author
  • Stepan Pazekha
    • 1
  • Alexander Moriarty
    • 1
  • Gerhard K. Kraetzschmar
    • 1
  1. 1.Department of Computer ScienceBonn-Rhein-Sieg University of Applied SciencesSankt AugustinGermany

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