Adding rotational robustness to the Surface-Approximation Polynomials descriptor

@article{Bormann2012AddingRR,
  title={Adding rotational robustness to the Surface-Approximation Polynomials descriptor},
  author={Richard Bormann and Jan Fischer and Georg Arbeiter and Alexander Verl},
  journal={2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)},
  year={2012},
  pages={409-416}
}
The Surface-Approximation Polynomials (SAP) descriptor has been shown to be an appropriate global surface descriptor for object categorization tasks in robotic applications [1]. Nevertheless, in the original formulation the SAP descriptor is not invariant against rotations around the camera axis. This paper explains and evaluates two methods which pre… CONTINUE READING