Federico Tombari

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Luigi Di Stefano104
Martial Hebert81
Mohammed Bennamoun75
Robyn A. Owens71
Ajmal S. Mian71
86Luigi di Stefano
56Ferdous Ahmed Sohel
55Mohammed Bennamoun
48Nassir Navab
48Min Lu

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Unique Signatures of Histograms for Local Surface Description
This paper deals with local 3D descriptors for surface matching. First, we categorize existing methods into two classes: Signatures and Histograms. Then, by discussion and experiments alike, we point out the key issues of uniqueness and repeatability of the local reference frame. Based on these observations, we formulate a novel comprehensive proposal for… (More)
A combined texture-shape descriptor for enhanced 3D feature matching
Motivated by the increasing availability of 3D sensors capable of delivering both shape and texture information, this paper presents a novel descriptor for feature matching in 3D data enriched with texture. The proposed approach stems from the theory of a recently proposed descriptor for 3D data which relies on shape only, and represents its generalization… (More)
Segmentation-Based Adaptive Support for Accurate Stereo Correspondence
Significant achievements have been attained in the field of dense stereo correspondence by local algorithms based on an adaptive support. Given the problem of matching two correspondent pixels within a local stereo process, the basic idea is to consider as support for each pixel only those points which lay on the same disparity plane, rather than those… (More)
SHOT: Unique signatures of histograms for surface and texture description
This paper presents a local 3D descriptor for surface matching dubbed SHOT. Our proposal stems from a taxonomy of existing methods which highlights two major approaches, referred to as Signatures and Histograms, inherently emphasizing descriptiveness and robustness respectively. We formulate a comprehensive proposal which encompasses a repeatable local… (More)
A Global Hypotheses Verification Method for 3D Object Recognition
We propose a novel approach for verifying model hypotheses in cluttered and heavily occluded 3D scenes. Instead of verifying one hypothesis at a time, as done by most state-of-the-art 3D object recognition methods, we determine object and pose instances according to a global optimization stage based on a cost function which encompasses geometrical cues.… (More)
Unique shape context for 3d data description
The use of robust feature descriptors is now key for many 3D tasks such as 3D object recognition and surface alignment. Many descriptors have been proposed in literature which are based on a non-unique local Reference Frame and hence require the computation of multiple descriptions at each feature points. In this paper we show how to deploy a unique local… (More)
Object Recognition in 3D Scenes with Occlusions and Clutter by Hough Voting
n this work we propose a novel Hough voting approach for the detection of free-form shapes in a 3D space, to be used for object recognition tasks in 3D scenes with a significant degree of occlusion and clutter. The proposed method relies on matching 3D features to accumulate evidence of the presence of the objects being sought in a 3D Hough space. We… (More)
OUR-CVFH - Oriented, Unique and Repeatable Clustered Viewpoint Feature Histogram for Object Recognition and 6DOF Pose Estimation
We propose a novel method to estimate a unique and repeatable reference frame in the context of 3D object recognition from a single viewpoint based on global descriptors. We show that the ability of defining a robust reference frame on both model and scene views allows creating descriptive global representations of the object view, with the beneficial… (More)
Deeper Depth Prediction with Fully Convolutional Residual Networks
This paper addresses the problem of estimating the depth map of a scene given a single RGB image. To model the ambiguous mapping between monocular images and depth maps, we leverage on deep learning capabilities and present a fully convolutional architecture encompassing residual learning. The proposed model is deeper than the current state of the art, but… (More)
Performance Evaluation of 3D Keypoint Detectors
In the past few years detection of repeatable and distinctive keypoints on 3D surfaces has been the focus of intense research activity, due on the one hand to the increasing diffusion of low-cost 3D sensors, on the other to the growing importance of applications such as 3D shape retrieval and 3D object recognition. This work aims at contributing to the… (More)