关键词: 三维物体识别, 区域增长, 语义地图构建, 内在形状特征（ISS）算法, 基于颜色与签名的方向直方图（CSHOT）局部特征描述子

Abstract: In order to improve the sorting work efficiency of the modular manipulator, this paper studies a kind of real-time 3D semantic map generation method. This method introduces an improved region growing segmentation algorithm used for the extraction of object clusters. It obtains candidate models by feature matching method based on distance threshold, using Random Sample Consensus algorithm（RANSAC） and Iterative Closest Point（ICP） algorithm to generate transformation hypothesis and verify the candidate model. Finally it acquires position and orientation of objects, which are stored in the XML map file. It analyzes the resulting map file and the position and orientation of the tip of the mechanical arm, then the track of grasping task is achieved. The results show that the map generation method meets the operational requirements of real-time and accuracy.

Key words: 3D object recognition, region growing segmentation, semantic map building, Intrinsic Shape Signatures（ISS） algorithm, Color_Signature of Histograms of OrienTations（CSHOT） local feature descriptor