Improving generalization for 3D object categorization with Global Structure Histograms

@article{Madry2012ImprovingGF,
  title={Improving generalization for 3D object categorization with Global Structure Histograms},
  author={Marianna Madry and Carl Henrik Ek and Renaud Detry and Kaiyu Hang and Danica Kragic},
  journal={2012 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2012},
  pages={1379-1386}
}
We propose a new object descriptor for three dimensional data named the Global Structure Histogram (GSH). The GSH encodes the structure of a local feature response on a coarse global scale, providing a beneficial trade-off between generalization and discrimination. Encoding the structural characteristics of an object allows us to retain low local variations while keeping the benefit of global representativeness. In an extensive experimental evaluation, we applied the framework to category-based… CONTINUE READING

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