Estimating 3-D rigid body transformations: a comparison of four major algorithms
Machine Vision and Applications - Special issue on performance evaluation
Fundamentals of Texture Mapping and Image Warping
Fundamentals of Texture Mapping and Image Warping
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Pose-Robust Face Recognition Using Geometry Assisted Probabilistic Modeling
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 1 - Volume 01
A Performance Evaluation of Local Descriptors
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Comparison of Affine Region Detectors
International Journal of Computer Vision
Robust Multiple Structures Estimation with J-Linkage
ECCV '08 Proceedings of the 10th European Conference on Computer Vision: Part I
Fast geometric point labeling using conditional random fields
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Simultaneously Fitting and Segmenting Multiple-Structure Data with Outliers
IEEE Transactions on Pattern Analysis and Machine Intelligence
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Stereo systems, time-of-flight cameras, laser range sensors and consumer depth cameras nowadays produce a wealth of image data with depth information (RGBD), yet the number of approaches that can take advantage of color and geometry data at the same time is quite limited. We address the topic of wide baseline matching between two RGBD images, i.e. finding correspondences from largely different viewpoints for recognition, model fusion or loop detection. Here we normalize local image features with respect to the underlying geometry and show a significantly increased number of correspondences. Rather than moving a virtual camera to some position in front of a dominant scene plane, we propose to unroll developable scene surfaces and detect features directly in the "wall paper" of the scene. This allows viewpoint invariant matching also in scenes with curved architectural elements or with objects like bottles, cans or (partial) cones and others. We prove the usefulness of our approach using several real world scenes with different objects.