- Full text PDF available (4)
- This year (0)
- Last five years (4)
This paper addresses the problem of recognizing free-form 3D objects in point clouds. Compared to traditional approaches based on point descriptors, which depend on local information around points, we propose a novel method that creates a global model description based on oriented point pair features and matches that model locally using a fast voting… (More)
Object detection and localization is a crucial step for inspection and manipulation tasks in robotic and industrial applications. We present an object detection and lo-calization scheme for 3D objects that combines intensity and depth data. A novel multimodal, scale-and rotation-invariant feature is used to simultaneously describe the ob-ject's silhouette… (More)
We propose a data structure for finding the exact nearest neighbors in 3D in approximately O(log(log(N)) time. In contrast to standard approaches such as k-d-trees, the query time is independent of the location of the query point and the distribution of the data set. The method uses a hierarchical voxel approximation of the data point's Voronoi cells. This… (More)
We present a method for efficient detection of deformed 3D objects in 3D point clouds that can handle large amounts of clutter, noise, and occlu-sion. The method generalizes well to different object classes and does not require an explicit deformation model. Instead, deformations are learned based on a few registered deformed object instances. The approach… (More)
A male neonate presented with a right-sided swelling in the floor of the mouth, a congenital ranula, which disappeared spontaneously.