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<html>   <head> <title>Dima Damen, Lecturer in Computer Vision, University of Bristol</title>
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<center><h1>Real-time Scalable Textureless Object Detection</h1></center>
<h3><font size="2"><a href="http://www.cs.bris.ac.uk/~damen">Dima Damen</a>, <a href="http://www.cs.bris.ac.uk/~pbunnun">Pished Bunnun</a>, <a href="http://www.cs.bris.ac.uk/~andrew">Andrew Calway</a>, <a href="http://www.cs.bris.ac.uk/~wmayol">Walterio Mayol-Cuevas</a></font></h3>
<p align="justify">We have developed a scalable method for detecting multiple objects from a video stream in real time. The method is shape-based, thus suitable for texture-less objects. The method is based on constellations of edgelets, which are easy to calculate and occlusion-tolerant. Scalability is handled by fixed scanning paths that limit the number of considered constellations. Searching training views for constellations using a few fixed scanning paths builds a library of transformation-invariant descriptors. During testing, the image is searched for constalltions of edgelets using the same pre-defined fixed scanning paths. When a constellation is found, the descriptor is compared to the library to find candidate matche. The method was tested for up to 30 three-dimensional objects (> 100 views per object) and recall of over 50% was achieved at 7fps.</p>
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    <iframe width="480" height="320" src="http://www.youtube.com/embed/4rPjN1mcKGc" frameborder="0" allowfullscreen></iframe>
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<h2>Publications</h2>
Real-time Learning and Detection of 3D Texture-less Objects: A Scalable Approach. British Machine Vision Conference (BMVC), 2012, <a href="bmvc2012_scalable_textureless.pdf">pdf</a>, <a href="bmvc2012_abstract.pdf">abstract</a><br/><br/>
Egocentric Real-time Workspace Monitoring using an RGB-D Camera. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012, <a href="Egocentric_IROS2012.pdf">pdf</a><br/><br/>
Detecting and Localising Multiple 3D Objects: A Fast and Scalable Approach. IROS Workshop on Active Semantic Perception and Object Search in the Real World (ASP-AVS-11), 2011 <a href="IROS-W2011.pdf"> pdf </a>
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<h2>Software Download</h2>
When using this code, kindly reference our BMVC paper below.<br/><br/>
<b><a href="MultiObjDetector_code.zip">Version 1.2 (bug-fixed & performance improved) C++ Source code is now available here [Aug 2014]</a></b>
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<a href="http://youtu.be/4rPjN1mcKGc" target="new">Video on how to run the detector is available on Youtube</a>
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<b><a href="DetectMe.apk">Android (4.0+) .apk file is now available [Aug 2014]</a></b>
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<h2>Videos</h2>
Real-time and scalable detection of textureless objects using monocular camera <a href="BMVC2012/BMVC2012.avi">AVI (13.8MB)</a><br/>
Results on hand-held sequences for the COGNITO system are available <a href="detectionAndTracking.mpeg">MPG (24.0MB)</a>.<br/>


<h2>FurtherResults</h2>
<img src="fig.png" width="900">


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