COSMOS-A Representation Scheme for 3D Free-Form Objects
IEEE Transactions on Pattern Analysis and Machine Intelligence
Point Signatures: A New Representation for 3D Object Recognition
International Journal of Computer Vision
Using Spin Images for Efficient Object Recognition in Cluttered 3D Scenes
IEEE Transactions on Pattern Analysis and Machine Intelligence
Feature Detection with Automatic Scale Selection
International Journal of Computer Vision
Evaluation of Interest Point Detectors
International Journal of Computer Vision - Special issue on a special section on visual surveillance
Shape Indexing Using Approximate Nearest-Neighbour Search in High-Dimensional Spaces
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
SMI '04 Proceedings of the Shape Modeling International 2004
A Fast and Simple Stretch-Minimizing Mesh Parameterization
SMI '04 Proceedings of the Shape Modeling International 2004
A Comparison of Affine Region Detectors
International Journal of Computer Vision
Evaluation of Features Detectors and Descriptors based on 3D Objects
International Journal of Computer Vision
3D free-form object recognition in range images using local surface patches
Pattern Recognition Letters
Direct visibility of point sets
ACM SIGGRAPH 2007 papers
ECCV '08 Proceedings of the 10th European Conference on Computer Vision: Part III
3D Model Retrieval Using Probability Density-Based Shape Descriptors
IEEE Transactions on Pattern Analysis and Machine Intelligence
A concise and provably informative multi-scale signature based on heat diffusion
SGP '09 Proceedings of the Symposium on Geometry Processing
Real-time Object Recognition in Sparse Range Images Using Error Surface Embedding
International Journal of Computer Vision
International Journal of Computer Vision
Hough transform and 3D SURF for robust three dimensional classification
ECCV'10 Proceedings of the 11th European conference on Computer vision: Part VI
Unique signatures of histograms for local surface description
ECCV'10 Proceedings of the 11th European conference on computer vision conference on Computer vision: Part III
On the use of implicit shape models for recognition of object categories in 3D data
ACCV'10 Proceedings of the 10th Asian conference on Computer vision - Volume Part III
Multiscale 3D Feature Extraction and Matching
3DIMPVT '11 Proceedings of the 2011 International Conference on 3D Imaging, Modeling, Processing, Visualization and Transmission
A Performance Evaluation of 3D Keypoint Detectors
3DIMPVT '11 Proceedings of the 2011 International Conference on 3D Imaging, Modeling, Processing, Visualization and Transmission
SHREC'10 track: feature detection and description
EG 3DOR'10 Proceedings of the 3rd Eurographics conference on 3D Object Retrieval
SHREC 2011: robust feature detection and description benchmark
EG 3DOR'11 Proceedings of the 4th Eurographics conference on 3D Object Retrieval
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In the past few years detection of repeatable and distinctive keypoints on 3D surfaces has been the focus of intense research activity, due on the one hand to the increasing diffusion of low-cost 3D sensors, on the other to the growing importance of applications such as 3D shape retrieval and 3D object recognition. This work aims at contributing to the maturity of this field by a thorough evaluation of several recent 3D keypoint detectors. A categorization of existing methods in two classes, that allows for highlighting their common traits, is proposed, so as to abstract all algorithms to two general structures. Moreover, a comprehensive experimental evaluation is carried out in terms of repeatability, distinctiveness and computational efficiency, based on a vast data corpus characterized by nuisances such as noise, clutter, occlusions and viewpoint changes.