Three-dimensional invariants and their application to object recognition
Signal Processing
Using Spin Images for Efficient Object Recognition in Cluttered 3D Scenes
IEEE Transactions on Pattern Analysis and Machine Intelligence
Conditional Random Fields: Probabilistic Models for Segmenting and Labeling Sequence Data
ICML '01 Proceedings of the Eighteenth International Conference on Machine Learning
Estimating surface normals in noisy point cloud data
Proceedings of the nineteenth annual symposium on Computational geometry
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Discriminative Learning of Markov Random Fields for Segmentation of 3D Scan Data
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 2 - Volume 02
Curvature Maps for Local Shape Comparison
SMI '05 Proceedings of the International Conference on Shape Modeling and Applications 2005
SGP '05 Proceedings of the third Eurographics symposium on Geometry processing
Conditional Random Field for 3D Point Clouds with Adaptive Data Reduction
CW '07 Proceedings of the 2007 International Conference on Cyberworlds
Thrift: Local 3D Structure Recognition
DICTA '07 Proceedings of the 9th Biennial Conference of the Australian Pattern Recognition Society on Digital Image Computing Techniques and Applications
Speeded-Up Robust Features (SURF)
Computer Vision and Image Understanding
Instance-based AMN classification for improved object recognition in 2D and 3D laser range data
IJCAI'07 Proceedings of the 20th international joint conference on Artifical intelligence
Characterizing shape using conformal factors
EG 3DOR'08 Proceedings of the 1st Eurographics conference on 3D Object Retrieval
On normals and projection operators for surfaces defined by point sets
SPBG'04 Proceedings of the First Eurographics conference on Point-Based Graphics
Conditional random fields for urban scene classification with full waveform LiDAR data
PIA'11 Proceedings of the 2011 ISPRS conference on Photogrammetric image analysis
Viewpoint invariant matching via developable surfaces
ECCV'12 Proceedings of the 12th international conference on Computer Vision - Volume 2
Fast point-of-interest detection from real-time stereo
Proceedings of the 27th Conference on Image and Vision Computing New Zealand
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In this paper we present a new approach for labeling 3D points with different geometric surface primitives using a novel feature descriptor - the Fast Point Feature Histograms, and discriminative graphical models. To build informative and robust 3D feature point representations, our descriptors encode the underlying surface geometry around a point p using multi-value histograms. This highly dimensional feature space copes well with noisy sensor data and is not dependent on pose or sampling density. By defining classes of 3D geometric surfaces and making use of contextual information using Conditional Random Fields (CRFs), our system is able to successfully segment and label 3D point clouds, based on the type of surfaces the points are lying on. We validate and demonstrate the method's efficiency by comparing it against similar initiatives as well as present results for table setting datasets acquired in indoor environments.