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Ensemble of shape functions for 3D object classification
This work addresses the problem of real-time 3D shape based object class recognition, its scaling to many categories and the reliable perception of categories. A novel shape descriptor for partialExpand
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CAD-model recognition and 6DOF pose estimation using 3D cues
This paper focuses on developing a fast and accurate 3D feature for use in object recognition and pose estimation for rigid objects. More specifically, given a set of CAD models of different objectsExpand
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Multiobjective Optimization on a Limited Budget of Evaluations Using Model-Assisted -Metric Selection
Real-world optimization problems often require the consideration of multiple contradicting objectives. These multiobjective problems are even more challenging when facing a limited budget ofExpand
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Segmentation of unknown objects in indoor environments
We present a framework for segmenting unknown objects in RGB-D images suitable for robotics tasks such as object search, grasping and manipulation. While handling single objects on a table is solved,Expand
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  • Open Access
Tutorial: Point Cloud Library: Three-Dimensional Object Recognition and 6 DOF Pose Estimation
With 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 rapidlyExpand
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  • Open Access
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 objectExpand
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  • Open Access
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 ofExpand
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  • Open Access
A fast stereo matching algorithm suitable for embedded real-time systems
In this paper, the challenge of fast stereo matching for embedded systems is tackled. Limited resources, e.g. memory and processing power, and most importantly real-time capability on embeddedExpand
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  • Open Access
Pix2Pose: Pixel-Wise Coordinate Regression of Objects for 6D Pose Estimation
Estimating the 6D pose of objects using only RGB images remains challenging because of problems such as occlusion and symmetries. It is also difficult to construct 3D models with precise textureExpand
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  • Open Access
Learning of perceptual grouping for object segmentation on RGB-D data☆
Highlights • Segmentation of unknown objects in cluttered scenes.• Abstraction of raw RGB-D data into parametric surface patches.• Learning of perceptual grouping between surfaces with SVMs.• GlobalExpand
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  • Open Access