3D object recognition in cluttered scenes with local surface features: A survey

IEEE Transactions on Pattern Analysis and Machine Intelligence

Volumn 36, Issue 11, 2014, Pages 2270-2287

  Guo, Yulan ^a,b   Bennamoun, Mohammed ^b   Sohel, Ferdous ^b   Lu, Min ^a   Wan, Jianwei ^a  

^a NATIONAL UNIVERSITY OF DEFENSE TECHNOLOGY   (China)

^b UNIVERSITY OF WESTERN AUSTRALIA   (Australia)

Author keywords

3D object recognition; feature description; keypoint detection; local feature; range image

Indexed keywords

3D OBJECT RECOGNITION; FEATURE DESCRIPTION; KEYPOINT DETECTION; LOCAL FEATURE; RANGE IMAGES;

EID: 84907828097     PISSN: 01628828     EISSN: None     Source Type: Journal    
DOI: 10.1109/TPAMI.2014.2316828     Document Type: Article

References (137)

1. Y. Lei, M. Bennamoun, M. Hayat, and Y. Guo, "An efficient 3D face recognition approach using local geometrical signatures," Pattern Recognit., vol. 47, no. 2, pp. 509-524, 2014.
2. Y. Guo, J. Wan, M. Lu, and W. Niu, "A parts-based method for articulated target recognition in laser radar data," Optik, vol. 124, no. 17, pp. 2727-2733, 2013.
3. F. Tombari, S. Salti, and L.Di Stefano, "Unique signatures of histograms for local surface description," in Proc. Eur. Conf. Comput. Vis., 2010, pp. 356-369.
4. A. Mian, M. Bennamoun, and R. Owens, "On the repeatability and quality of keypoints for local feature-based 3D object retrieval from cluttered scenes," Int. J. Comput. Vis., vol. 89, no. 2, pp. 348-361, 2010.
5. F. M. Sukno, J. L. Waddington, and P. F. Whelan, "Comparing 3D descriptors for local search of craniofacial landmarks," in Proc. Int. Symp. Vis. Comput., 2012, pp. 92-103.
6. K. Mikolajczyk and C. Schmid, "A performance evaluation of local descriptors," IEEE Trans. Pattern Anal. Mach. Intell., vol. 27, no. 10, pp. 1615-1630, Oct. 2005.
7. C. Creusot, N. Pears, and J. Austin, "A machine-learning approach to keypoint detection and landmarking on 3D meshes," Int. J. Comput. Vis., vol. 102, no. 1-3, pp. 146-179, 2013.
8. K. Lai, L. Bo, X. Ren, and D. Fox, "A large-scale hierarchical multi-view RGB-D object dataset," in Proc. IEEE Int. Conf. Robot. Autom., 2011, pp. 1817-1824.
9. B. Drost, M. Ulrich, N. Navab, and S. Ilic, "Model globally, match locally: Efficient and robust 3D object recognition," in Proc. IEEE Conf. Comput. Vis. Pattern Recognit., 2010, pp. 998-1005.
10. R. B. Rusu and S. Cousins, "3D is here: Point cloud library (PCL)," in Proc. IEEE Int. Conf. Robot. Autom., 2011, pp. 1-4.
11. A. Aldoma, F. Tombari, L. Di Stefano, and M. Vincze, "A global hypotheses verification method for 3D object recognition," in Proc. Eur. Conf. Comput. Vis., 2012, pp. 511-524.
12. M. Kaiser, X. Xu, B. Kwolek, S. Sural, and G. Rigoll, "Towards using covariance matrix pyramids as salient point descriptors in 3D point clouds," Neurocomputing, vol. 120, pp. 101-112, 2013.
13. E. Akagündüz and I. Ulusoy, "3D object recognition from range images using transform invariant object representation," Electron. Lett., vol. 46, no. 22, pp. 1499-1500, 2010.
14. N. Bayramoglu and A. Alatan, "Shape index SIFT: Range image recognition using local features," in Proc. 20th Int. Conf. Pattern Recognit., 2010, pp. 352-355.
15. U. Castellani, M. Cristani, S. Fantoni, and V. Murino, "Sparse points matching by combining 3D mesh saliency with statistical descriptors," Comput. Graph. Forum, vol. 27, no. 2, pp. 643-652, 2008.
16. B. Bustos, D. Keim, D. Saupe, T. Schreck, and D. Vranic, "Feature-based similarity search in 3D object databases," ACM Comput. Surv., vol. 37, no. 4, pp. 345-387, 2005.
17. A. Bronstein, M. Bronstein, and R. Kimmel, Numerical Geometry of Non-Rigid Shapes. New York, NY, USA: Springer-Verlag, 2008.
18. E. Paquet, M. Rioux, A. Murching, T. Naveen, and A. Tabatabai, "Description of shape information for 2-D and 3-D objects," Signal Process.: Image Commun., vol. 16, no. 1, pp. 103-122, 2000.
19. R. Osada, T. Funkhouser, B. Chazelle, and D. Dobkin, "Shape distributions," ACM Trans. Graphics, vol. 21, no. 4, pp. 807-832, 2002.
20. R. Rusu, G. Bradski, R. Thibaux, and J. Hsu, "Fast 3D recognition and pose using the viewpoint feature histogram," in Proc. IEEE/ RSJ Int. Conf. Intell. Robots Syst., 2010, pp. 2155-2162.
21. L. Shang and M. Greenspan, "Real-time object recognition in sparse range images using error surface embedding," Int. J. Comput. Vis., vol. 89, no. 2, pp. 211-228, 2010.
22. D. Lowe, "Distinctive image features from scale-invariant keypoints," Int. J. Comput. Vis., vol. 60, no. 2, pp. 91-110, 2004.
23. J. Knopp, M. Prasad, G. Willems, R. Timofte, and L. Van Gool, "Hough transform and 3D SURF for robust three dimensional classification," in Proc. 11th Eur. Conf. Comput. Vis., 2010, pp. 589-602.
24. P. Besl and R. Jain, "Three-dimensional object recognition," ACM Comput. Surv., vol. 17, no. 1, pp. 75-145, 1985.
25. J. Brady, N. Nandhakumar, and J. Aggarwal, "Recent progress in the recognition of objects from range data," in Proc. 9th Int. Conf. Pattern Recognit., 1988, pp. 85-92.
26. F. Arman and J. Aggarwal, "Model-based object recognition in dense-range images-A review," ACM Comput. Surv., vol. 25, no. 1, pp. 5-43, 1993.
27. R. Campbell and P. Flynn, "A survey of free-form object representation and recognition techniques," Comput. Vis. Image Understanding, vol. 81, no. 2, pp. 166-210, 2001.
28. G. Mamic and M. Bennamoun, "Representation and recognition of 3D free-form objects," Digit. Signal Process., vol. 12, no. 1, pp. 47-76, 2002.
29. A. Mian, M. Bennamoun, and R. Owens, "Automated 3D modelbased free-form object recognition," Sens. Rev., vol. 24, no. 2, pp. 206-215, 2004.
30. J. Salvi, C. Matabosch, D. Fofi, and J. Forest, "A review of recent range image registration methods with accuracy evaluation," Image Vis. Comput., vol. 25, no. 5, pp. 578-596, 2007.
31. A. Mian, M. Bennamoun, and R. Owens, "Automatic correspondence for 3D modeling: An extensive review," Int. J. Shape Model., vol. 11, no. 2, pp. 253-291, 2005.
32. A. Bronstein, M. Bronstein, and M. Ovsjanikov, "3D features, surface descriptors, and object descriptors," http://www. inf.usi.ch/phd/sarimbekov/courses/ti2010/index.php?action= topic&id=14, 2010.
33. F. Tombari, S. Salti, and L. Di Stefano, "Performance evaluation of 3D keypoint detectors," Int. J. Comput. Vis., vol. 102, no. 1, pp. 198-220, 2013.
34. P. Bariya and K. Nishino, "Scale-hierarchical 3D object recognition in cluttered scenes," in Proc. IEEE Conf. Comput. Vis. Pattern Recognit., 2010, pp. 1657-1664.
35. S. Salti, F. Tombari, and L. Stefano, "A performance evaluation of 3D keypoint detectors," in Proc. Int. Conf. 3D Imaging, Model., Process., Vis. Transmiss., 2011, pp. 236-243.
36. K. Bowyer, K. Chang, and P. Flynn, "A survey of approaches and challenges in 3D and multi-modal 3D+2D face recognition," Comput. Vis. Image Understanding, vol. 101, no. 1, pp. 1-15, 2006.
37. H. Chen and B. Bhanu, "Human ear recognition in 3D," IEEE Trans. Pattern Anal. Mach. Intell., vol. 29, no. 4, pp. 718-737, May 2007.
38. A. Mian, M. Bennamoun, and R. Owens, "Three-dimensional model-based object recognition and segmentation in cluttered scenes," IEEE Trans. Pattern Anal. Mach. Intell., vol. 28, no. 10, pp. 1584-1601, Oct. 2006.
39. A. Flint, A. Dick, and A. Van den Hengel, "Local 3D structure recognition in range images," IET Comput. Vis., vol. 2, no. 4, pp. 208-217, 2008.
40. I. Sipiran and B. Bustos, "Harris 3D: A robust extension of the Harris operator for interest point detection on 3D meshes," The Vis. Comput.: Int. J. Comput. Graph., vol. 27, pp. 963-976, 2011.
41. R. Unnikrishnan and M. Hebert, "Multi-scale interest regions from unorganized point clouds," in Proc. IEEE Conf. Comput. Vis. Pattern Recognit. Workshops, 2008, pp. 1-8.
42. K. Mikolajczyk, T. Tuytelaars, C. Schmid, A. Zisserman, J. Matas, F. Schaffalitzky, T. Kadir, and L. Gool, "A comparison of affine region detectors," Int. J. Comput. Vis., vol. 65, no. 1, pp. 43-72, 2005.
43. Y. Ke and R. Sukthankar, "PCA-SIFT: A more distinctive representation for local image descriptors," Proc. IEEE Conf. Comput. Vis. Pattern Recognit., vol. 2, 2004, pp. 498-506.
44. Y. Guo, F. Sohel, M. Bennamoun, M. Lu, and J. Wan, "Rotational projection statistics for 3D local surface description and object recognition," Int. J. Comput. Vis., vol. 105, no. 1, pp. 63-86, 2013.
45. Y. Guo, F. Sohel, M. Bennamoun, J. Wan, and M. Lu, "RoPS: A local feature descriptor for 3D rigid objects based on rotational projection statistics," in Proc. 1st Int. Conf. Commun., Signal Process., Appl., 2013, pp. 1-6.
46. Y. Guo, F. Sohel, M. Bennamoun, M. Lu, and J. Wan, "TriSI: A distinctive local surface descriptor for 3D modeling and object recognition," in Proc. 8th Int. Conf. Comput. Graph. Theory Appl., 2013, pp. 86-93.
47. B. Taati and M. Greenspan, "Local shape descriptor selection for object recognition in range data," Comput. Vis. Image Understanding, vol. 115, no. 5, pp. 681-694, 2011.
48. P. Bariya, J. Novatnack, G. Schwartz, and K. Nishino, "3D geometric scale variability in range images: Features and descriptors," Int. J. Comput. Vis., vol. 99, no. 2, pp. 232-255, 2012.
49. P. Flynn and R. Campbell, "A WWW-accessible database for 3D vision research," in Proc. IEEE Workshop Empir. Eval. Methods Comput. Vis., 1998, pp. 148-154.
50. G. Hetzel, B. Leibe, P. Levi, and B. Schiele, "3D object recognition from range images using local feature histograms," Proc. IEEE Conf. Comput. Vis. Pattern Recognit., vol. 2, 2001, pp. II-394-II-399.
51. B. Taati, M. Bondy, P. Jasiobedzki, and M. Greenspan, "Variable dimensional local shape descriptors for object recognition in range data," in Proc. 11th IEEE Int. Conf. Comput. Vis., 2007, pp. 1-8.
52. S. Helmer, D. Meger, M. Muja, J. Little, and D. Lowe, "Multiple viewpoint recognition and localization," in Proc. 10th Asian Conf. Comput. Vis., 2010, pp. 464-477.
53. F. Tombari, S. Salti, and L. Di Stefano, "A combined textureshape descriptor for enhanced 3D feature matching," in 18th IEEE Int. Conf. Image Process., 2011, pp. 809-812.
54. A. Janoch, S. Karayev, Y. Jia, J. Barron, M. Fritz, K. Saenko, and T. Darrell, "A category-level 3-D object dataset: Putting the kinect to work," in Proc. IEEE Int. Conf. Comput. Vis. Workshops, 2011, pp. 1168-1174.
55. J. Sturm, S. Magnenat, N. Engelhard, F. Pomerleau, F. Colas, W. Burgard, D. Cremers, and R. Siegwart, "Towards a benchmark for RGB-D SLAM evaluation," in Proc. RGB-D Workshop Adv. Reason. Depth Cameras Robot.: Sci. Syst. Conf., 2011, pp. 1-3.
56. E. Rodolá, A. Albarelli, F. Bergamasco, and A. Torsello, "A scale independent selection process for 3D object recognition in cluttered scenes," Int. J. Comput. Vis., vol. 102, pp. 129-145, 2013.
57. B. Curless and M. Levoy, "A volumetric method for building complex models from range images," in Proc. 23rd Annu. Conf. Comput. Graph. Interact. Tech., 1996, pp. 303-312.
58. P. Shilane, P. Min, M. Kazhdan, and T. Funkhouser, "The Princeton shape benchmark," in Proc. Int. Conf. Shape Model. Appl., 2004, pp. 167-178.
59. A. Bronstein, M. Bronstein, and R. Kimmel, "Efficient computation of isometry-invariant distances between surfaces," SIAM J. Sci. Comput., vol. 28, no. 5, pp. 1812-1836, 2006.
60. E. Boyer, A. Bronstein, M. Bronstein, B. Bustos, T. Darom, R. Horaud, I. Hotz, Y. Keller, J. Keustermans, A. Kovnatsky, R. Litman, J. Reininghaus, I. Sipiran, D. Smeets, P. Suetens, D. Vandermeulen, A. Zaharescu, and V. Zobel, "SHREC 2011: Robust feature detection and description benchmark," in Proc. Eurographics Workshop Shape Retrieval, 2011, pp. 79-86.
61. A. Kovnatsky, M. Bronstein, A. Bronstein, and R. Kimmel, "Photometric heat kernel signatures," in Proc. 3rd Int. Conf. Scale Space Variational Methods Comput. Vis., pp. 616-627, 2012.
62. A. Zaharescu, E. Boyer, and R. Horaud, "Keypoints and local descriptors of scalar functions on 2D manifolds," Int. J. Comput. Vis., vol. 100, pp. 78-98, 2012.
63. A. Frome, D. Huber, R. Kolluri, T. Bülow, and J. Malik, "Recognizing objects in range data using regional point descriptors," in Proc. 8th Eur. Conf. Comput. Vis., 2004, pp. 224- 237.
64. A. E. Johnson and M. Hebert, "Using spin images for efficient object recognition in cluttered 3D scenes," IEEE Trans. Pattern Anal. Mach. Intell., vol. 21, no. 5, pp. 433-449, May 1999.
65. F. Mokhtarian, N. Khalili, and P. Yuen, "Multi-scale free-form 3D object recognition using 3D models," Image Vis. Comput., vol. 19, no. 5, pp. 271-281, 2001.
66. S. M. Yamany and A. A. Farag, "Surface signatures: An orientation independent free-form surface representation scheme for the purpose of objects registration and matching," IEEE Trans. Pattern Anal. Mach. Intell., vol. 24, no. 8, pp. 1105-1120, Aug. 2002.
67. R. Gal and D. Cohen-Or, "Salient geometric features for partial shape matching and similarity," ACM Trans. Graph., vol. 25, no. 1, pp. 130-150, 2006.
68. H. Chen and B. Bhanu, "3D free-form object recognition in range images using local surface patches," Pattern Recognit. Lett., vol. 28, no. 10, pp. 1252-1262, 2007.
69. B. Matei, Y. Shan, H. Sawhney, Y. Tan, R. Kumar, D. Huber, and M. Hebert, "Rapid object indexing using locality sensitive hashing and joint 3D-signature space estimation," IEEE Trans. Pattern Anal. Mach. Intell., vol. 28, no. 7, pp. 1111-1126, Jul. 2006.
70. Y. Zhong, "Intrinsic shape signatures: A shape descriptor for 3D object recognition," in Proc. IEEE Int. Conf. Comput. Vis. Workshops, 2009, pp. 689-696.
71. P. Glomb, "Detection of interest points on 3D data: Extending the Harris operator," Comput. Recognit. Syst., vol. 7, pp. 103-111, 2009.
72. C. Harris and M. Stephens, "A combined corner and edge detector," in Proc. Alvey Vis. Conf., 1988, vol. 15, p. 50.
73. J. Sun, M. Ovsjanikov, and L. Guibas, "A concise and provably informative multi-scale signature based on heat diffusion," Comput. Graph. Forum, vol. 28, no. 5, pp. 1383-1392, 2009.
74. T. Lindeberg, "Scale-space theory: A basic tool for analyzing structures at different scales," J. Appl. Stat., vol. 21, nos. 1-2, pp. 225-270, 1994.
75. E. Akagündüz and I. Ulusoy, "3D object representation using transform and scale invariant 3D features," in Proc. 11th IEEE Int. Conf. Comput. Vis., 2007, pp. 1-8.
76. T. Darom and Y. Keller, "Scale invariant features for 3D mesh models," IEEE Trans. Image Process., vol. 21, no. 5, pp. 2758-2769, May 2012.
77. X. Li and I. Guskov, "Multi-scale features for approximate alignment of point-based surfaces," in Proc. 3rd Eurographics Symp. Geometry Process., 2005, p. 217.
78. T. Lo and J. Siebert, "Local feature extraction and matching on range images: 2.5D SIFT," Comput. Vis. and Image Understanding, vol. 113, no. 12, pp. 1235-1250, 2009.
79. J. Novatnack, K. Nishino, and A. Shokoufandeh, "Extracting 3D shape features in discrete scale-space," in Proc. 3rd Int. Symp. 3D Data Process., Visualization, and Transmiss., 2006, pp. 946-953.
80. J. Koenderink, "The structure of images," Biol. Cybern., vol. 50, no. 5, pp. 363-370, 1984.
81. J. Novatnack and K. Nishino, "Scale-dependent 3D geometric features," in Proc. 11th IEEE Int. Conf. Comput. Vis., 2007, pp. 1-8.
82. G. Zou, J. Hua, Z. Lai, X. Gu, and M. Dong, "Intrinsic geometric scale space by shape diffusion," IEEE Trans. Visualization and Comput. Graph., vol. 15, no. 6, pp. 1193-1200, Nov./Dec. 2009.
83. T. Hou and H. Qin, "Efficient computation of scale-space features for deformable shape correspondences," in Proc. Eur. Conf. Comput. Vis., 2010, pp. 384-397.
84. H. Dutagaci, C. Cheung, and A. Godil, "Evaluation of 3D interest point detection techniques via human-generated ground truth," Vis. Comput., vol. 28, no. 9, pp. 901-917, 2012.
85. H. Ho and D. Gibbins, "Curvature-based approach for multiscale feature extraction from 3D meshes and unstructured point clouds," IET Comput. Vis., vol. 3, no. 4, pp. 201-212, 2009.
86. A. Flint, A. Dick, and A. Hengel, "THRIFT: Local 3D structure recognition," in Proc. 9th Conf. Digital Image Comput. Tech. and Appl., 2007, pp. 182-188.
87. J. Stuckler and S. Behnke, "Interest point detection in depth images through scale-space surface analysis," in Proc. IEEE Int. Conf. Robot. Autom., 2011, pp. 3568-3574.
88. H. Ho and D. Gibbins, "Multi-scale feature extraction for 3D surface registration using local shape variation," in Proc. 23rd Int. Conf. Image Vis. Comput., 2008, pp. 1-6.
89. J. Hua, Z. Lai, M. Dong, X. Gu, and H. Qin, "Geodesic distance- weighted shape vector image diffusion," IEEE Trans. Vis. Comput. Graph., vol. 14, no. 6, pp. 1643-1650, Nov./Dec. 2008.
90. G. Zou, J. Hua, M. Dong, and H. Qin, "Surface matching with salient keypoints in geodesic scale space," Comput. Anim. Virtual Worlds, vol. 19, no. 3/4, pp. 399-410, 2008.
91. A. Zaharescu, E. Boyer, K. Varanasi, and R. Horaud, "Surface feature detection and description with applications to mesh matching," in Proc. IEEE Conf. Comput. Vis. Pattern Recognit., 2009, pp. 373-380.
92. M. Pauly, R. Keiser, and M. Gross, "Multi-scale feature extraction on point-sampled surfaces," Comput. Graph. Forum, vol. 22, no. 3, 2003, pp. 281-289.
93. Y. Ioannou, B. Taati, R. Harrap, and M. Greenspan, "Difference of normals as a multi-scale operator in unorganized point clouds," in Proc. 2nd Int. Conf. 3D Imaging, Model., Process., Vis. Transmiss., 2012, pp. 501-508.
94. J. Hu and J. Hua, "Salient spectral geometric features for shape matching and retrieval," Vis. Comput., vol. 25, no. 5, pp. 667-675, 2009.
95. A. M. Bronstein, M. M. Bronstein, B. Bustos, U. Castellaniy, M. Crisani, B. Falcidieno, L. J. Guibasy, I. Kokkinos, V. Murino, I. Isipiran, M. Ovsjanikovy, G. Patané, M. Spagnuolo, and J. Sun, "SHREC 2010: Robust feature detection and description benchmark," Proc. Eurographics Workshop 3D Object Retrieval, vol. 2, no. 5, 2010, p. 6.
96. Y. Caspi and M. Irani, "Spatio-temporal alignment of sequences," IEEE Trans. Pattern Anal. Mach. Intell., vol. 24, no. 11, pp. 1409-1424, Nov. 2002.
97. H. Bay, T. Tuytelaars, and L. Van Gool, "SURF: Speeded up robust features," in Proc. 9th Eur. Conf. Comput. Vis., 2006, pp. 404-417.
98. F. Stein and G. Medioni, "Structural indexing: Efficient 3D object recognition," IEEE Trans. Pattern Anal. Mach. Intell., vol. 14, no. 2, pp. 125-145, Feb. 1992.
99. C. Chua and R. Jarvis, "Point signatures: A new representation for 3D object recognition," Int. J. Comput. Vis., vol. 25, no. 1, pp. 63-85, 1997.
100. Y. Sun and M. Abidi, "Surface matching by 3D point's fingerprint," in Proc. 8th IEEE Int. Conf. Comput. Vis., 2001, vol. 2, pp. 263-269.
101. X. Li and I. Guskov, "3D object recognition from range images using pyramid matching," in Proc. 11th IEEE Int. Conf. Comput. Vis., 2007, pp. 1-6.
102. S. Malassiotis and M. Strintzis, "Snapshots: A novel local surface descriptor and matching algorithm for robust 3D surface alignment," IEEE Trans. Pattern Anal. Mach. Intell., vol. 29, no. 7, pp. 1285-1290, Jul. 2007.
103. J. Novatnack and K. Nishino, "Scale-dependent/ invariant local 3D shape descriptors for fully automatic registration of multiple sets of range images," in Proc. 10th Eur. Conf. Comput. Vis., 2008, pp. 440-453.
104. T. Masuda, "Log-polar height maps for multiple range image registration," Comput. Vis. Image Understanding, vol. 113, no. 11, pp. 1158-1169, 2009.
105. B. Steder, R. B. Rusu, K. Konolige, and W. Burgard, "NARF: 3D range image features for object recognition," in Proc. Workshop Defining Solving Realistic Percept. Problems Personal Robot. IEEE/ RSJ Int. Conf. Intell. Robots Syst., 2010, vol. 44.
106. B. Steder, R. Rusu, K. Konolige, and W. Burgard, "Point feature extraction on 3D range scans taking into account object boundaries," in Proc. IEEE Int. Conf. Robot. Autom., 2011, pp. 2601-2608.
107. E. R. do Nascimento, G. Leivas, A. Wilson, and M. F. Campos, "On the development of a robust, fast and lightweight keypoint descriptor," Neurocomputing, vol. 120, pp. 141-155, 2013.
108. O. Carmichael, D. Huber, and M. Hebert, "Large data sets and confusing scenes in 3-D surface matching and recognition," in Proc. 2nd Int. Conf. 3-D Digital Imaging Model., 1999, pp. 358-367.
109. J. Assfalg, M. Bertini, A. Bimbo, and P. Pala, "Content-based retrieval of 3-D objects using spin image signatures," IEEE Trans. Multimedia, vol. 9, no. 3, pp. 589-599, Apr. 2007.
110. H. Dinh and S. Kropac, "Multi-resolution spin-images," in Proc. IEEE Int. Conf. Comput. Vis. Pattern Recognit., 2006, vol. 1, pp. 863-870.
111. S. Ruiz-Correa, L. Shapiro, and M. Melia, "A new signaturebased method for efficient 3-D object recognition ," in IEEE Conf. Comput. Vis. Pattern Recognit., 2001, vol. 1, pp. I-769-I-776.
112. G. Pasqualotto, P. Zanuttigh, and G. Cortelazzo, "Combining color and shape descriptors for 3D model retrieval," Signal Process.: Image Commun., vol. 28, pp. 608-623, 2013.
113. S. Belongie, J. Malik, and J. Puzicha, "Shape matching and object recognition using shape contexts," IEEE Trans. Pattern Anal. Mach. IntelL., vol. 24, no. 4, pp. 509-522, Apr. 2002.
114. F. Tombari, S. Salti, and L.Di Stefano, "Unique shape context for 3D data description," in Proc. ACM Workshop 3D Object Retrieval, 2010, pp. 57-62.
115. F. M. Sukno, J. L. Waddington, and P. F. Whelan, "Rotationally invariant 3D shape contexts using asymmetry patterns," in Proc. 8th Int. Conf. Comput. Graph. Theory Appl., 2013.
116. I. Kokkinos, M. Bronstein, R. Litman, and A. Bronstein, "Intrinsic shape context descriptors for deformable shapes," in Proc. IEEE Conf. Comput. Vis. Pattern Recognit., 2012, pp. 159-166.
117. Y. Guo, F. Sohel, M. Bennamoun, J. Wan, and M. Lu, "Integrating shape and color cues for textured 3D object recognition," in Proc. 8th IEEE Conf. Ind. Electron. Appl., 2013, pp. 1614-1619.
118. R. B. Rusu, N. Blodow, Z. C. Marton, and M. Beetz, "Aligning point cloud views using persistent feature histograms," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., 2008, pp. 3384-3391.
119. E. Wahl, U. Hillenbrand, and G. Hirzinger, "Surflet-pair-relation histograms: a statistical 3D-shape representation for rapid classification," in Proc. 4th Int. Conf. 3-D Digit. Imaging and Model., 2003, pp. 474-481.
120. R. B. Rusu, N. Blodow, and M. Beetz, "Fast point feature histograms (FPFH) for 3D registration," in Proc. IEEE Int. Conf. Robot. Autom., 2009, pp. 3212-3217.
121. S. Tang, X. Wang, X. Lv, T. X. Han, J. Keller, Z. He, M. Skubic, and S. Lao, "Histogram of oriented normal vectors for object recognition with a depth sensor," in Proc. 11th Asian Conf. Comput. Vis., 2012, pp. 525-538.
122. M. Bronstein and I. Kokkinos, "Scale-invariant heat kernel signatures for non-rigid shape recognition," in Proc. IEEE Conf. Comput. Vis. Pattern Recognit., 2010, pp. 1704-1711.
123. M. M. Bronstein and A. M. Bronstein, "Shape recognition with spectral distances," IEEE Trans. Pattern Anal. Mach. Intell., vol. 33, no. 5, pp. 1065-1071, May 2011.
124. A. E. Johnson and M. Hebert, "Surface matching for object recognition in complex three-dimensional scenes," Image Vis. Comput., vol. 16, no. 9-10, pp. 635-651, 1998.
125. S. Nene and S. Nayar, "Closest point search in high dimensions," in Proc. IEEE Conf. Comput. Vis. Pattern Recognit., 1996, pp. 859-865.
126. C. Papazov and D. Burschka, "An efficient RANSAC for 3D object recognition in noisy and occluded scenes," in Proc. 10th Asian Conf. Comput. Vis., 2011, pp. 135-148.
127. Y. Guo, M. Bennamoun, F. Sohel, J. Wan, and M. Lu, "3D free form object recognition using rotational projection statistics," in Proc. IEEE 14th Workshop Appl. Comput. Vis., 2013, pp. 1-8.
128. P. J. Flynn and A. K. Jain, "BONSAI: 3D object recognition using constrained search," in Proc. 3rd Int. Conf. Comput. Vis., 1990, pp. 263-267.
129. C. Papazov, S. Haddadin, S. Parusel, K. Krieger, and D. Burschka, "Rigid 3D geometry matching for grasping of known objects in cluttered scenes," Int. J. Robot. Res., vol. 31, no. 4, pp. 538-553, 2012.
130. A. Albarelli, E. Rodola, F. Bergamasco, and A. Torsello, "A noncooperative game for 3D object recognition in cluttered scenes," in Proc. Int. Conf. 3D Imag. Modeling Process. Vis. Transmiss., 2011, pp. 252-259.
131. A. P. Ashbrook, R. B. Fisher, C. Robertson, and N. Werghi, "Finding surface correspondence for object recognition and registration using pairwise geometric histograms," in Proc. 5th Eur. Conf. Comput. Vis., 1998, pp. 674-686.
132. F. Tombari and L. D. Stefano, "Hough voting for 3d object recognition under occlusion and clutter," IPSJ Trans. Comput. Vis. Appl., vol. 4, pp. 20-29, 2012.
133. J. Knopp, M. Prasad, and L. Van Gool, "Orientation invariant 3D object classification using hough transform based methods," in Proc. ACM Workshop 3D Object Retrieval, 2010, pp. 15-20.
134. Y. Lamdan and H. J. Wolfson, "Geometric hashing: A general and efficient model-based recognition scheme," in Proc. Int. Conf. Comput. Vision, 1988, vol. 88, pp. 238-249.
135. P. Besl and N. McKay, "A method for registration of 3-D shapes," IEEE Trans. Pattern Anal. Mach. Intell., vol. 14, no. 2, pp. 239-256, Feb. 1992.
136. S. Wuhrer, Z. Ben Azouz, and C. Shu, "Posture invariant surface description and feature extraction," in Proc. IEEE Conf. Comput. Vis. Pattern Recognit., 2010, pp. 374-381.
137. K. Lai, L. Bo, X. Ren, and D. Fox, "A scalable tree-based approach for joint object and pose recognition," in Proc. 25th Conf. Artif. Intell., 2011, pp. 1474-1480.