An occluded object location method based on the salient primitive and the spatial topology relationship

Occluded target location is a challenge in three dimensions defect detection of complicated devices, which easily leads to the wrong location. In this paper, we propose an occluded target location method based on the most salient geometric primitive and its invariant spatial topology relationship with the occluded target. First, several 3D primitives are extracted by using the Random Sample Consensus (RANSAC) method. Then these primitive’s saliency is calculated with the proposed primitive saliency calculation algorithm, and the most salient primitive which has the maximum saliency value is selected. At last, the occluded target location is determined by the invariant spatial topology relationship between the most salient primitive and the occluded target. The occluded targets location experiment was completed on two 3D datasets, the occluded targets were all accurately located with the proposed method. The template matching method was also carried out to compare with our proposed method, the results showed that our method exhibited better performance in serious occlusion and noises and efficiency.