3D keypoint is widely used for object recognition and pose estimation with a 3D point cloud since it has robustness against measurement noise and occlusion.Many types BLACKLIGHT 18 IN 1 HAIR BEAUTIFIER of 3D keypoints and the corresponding detection methods of 3D keypoints have been proposed.It is essentially important to select suitable 3D keypoint depending on a target object, scene situation, and 3D measurement system.
While there have been a lot of useful methods for detecting 3D keypoints, detecting time is an issue, especially for real-time applications, such as robot vision.The detecting of 3D keypoints tends to entail a trade-off between computation time and the robustness of the 3D keypoint.To solve these problems, we propose a FAst Detection Algorithm for 3D keypoints named FADA-3K.
A user can select one of the suitable 3D keypoints and the corresponding detection method which Pre-Amp has been already proposed since FADA-3K can be implemented as an add-on of the existing detection methods.Numerical experiments show that FADA-3K can achieve about nine times faster detection than conventional approaches to detecting 3D keypoints.