Fast 3D Object Alignment from Depth Image with 3D Fourier Moment Matching on GPU

In this paper, we develop a fast and accurate 3D object alignment system which can be applied to detect objects and estimate their 3D pose from a depth image containing cluttered background. The proposed 3D alignment system consists of two main algorithms: the first is the 3D detection algorithm to detect the top-level object from a depth map of the cluttered 3D objects, and the second is the 3D Fourier based point-set alignment algorithm to estimate the 3D object pose from an input depth image. We also implement the proposed 3D alignment algorithm on a GPU computing platform to speed up the computation of the object detection and Fourier-based image alignment algorithms in order to align the 3D object in real time.