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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)
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)
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)
Recent research activity on stereo matching has proved the efficacy of local approaches based on advanced cost aggregation strategies in accurately retrieving 3D information. However, accuracy is typically achieved at expense of computational efficiency, with best methods being far from meeting real-time requirements. On the other side, basic real-time(More)
We propose a novel method to estimate a unique and re-peatable 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)
Object detection in images withstanding significant clutter and occlusion is still a challenging task whenever the object surface is characterized by poor informative content. We propose to tackle this problem by a compact and distinctive representation of groups of neighboring line segments aggregated over limited spatial supports and invariant to(More)
In the last decades several cost aggregation methods aimed at improving the robustness of stereo correspondence within local and global algorithms have been proposed. Given the recent developments and the lack of an appropriate comparison, in this paper we survey, classify and compare experimentally on a standard data set the main cost aggregation(More)
W ith the advent of new-generation depth sensors , the use of three-dimensional (3-D) data is becoming increasingly popular. As these sensors are commodity hardware and sold at low cost, a rapidly growing group of people can acquire 3-D data cheaply and in real time. With the massively increased usage of 3-D data for perception tasks, it is desirable that(More)
—Intense research activity on 3D data analysis tasks, such as object recognition and shape retrieval, has recently fostered the proposal of many techniques to perform detection of repeatable and distinctive keypoints in 3D surfaces. This high number of proposals has not been accompanied yet by a comprehensive comparative evaluation of the methods. Motivated(More)
— This paper proposes an effective algorithm for recognizing objects and accurately estimating their 6DOF pose in scenes acquired by a RGB-D sensor. The proposed method is based on a combination of different recognition pipelines, each exploiting the data in a diverse manner and generating object hypotheses that are ultimately fused together in an(More)