Curvature-based representation of objects from range data
Image and Vision Computing
Segmentation of 3D range images using pyramidal data structures
CVGIP: Image Understanding
Discrete-time signal processing (2nd ed.)
Discrete-time signal processing (2nd ed.)
Using Spin Images for Efficient Object Recognition in Cluttered 3D Scenes
IEEE Transactions on Pattern Analysis and Machine Intelligence
Mean Shift: A Robust Approach Toward Feature Space Analysis
IEEE Transactions on Pattern Analysis and Machine Intelligence
Mean Shift, Mode Seeking, and Clustering
IEEE Transactions on Pattern Analysis and Machine Intelligence
Pedestrian Detection Using Wavelet Templates
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
Object Recognition from Local Scale-Invariant Features
ICCV '99 Proceedings of the International Conference on Computer Vision-Volume 2 - Volume 2
Robust Real-Time Face Detection
International Journal of Computer Vision
Histograms of Oriented Gradients for Human Detection
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 1 - Volume 01
Description and recognition of object contours using arc length and tangent orientation
Pattern Recognition Letters
Fast Human Detection Using a Cascade of Histograms of Oriented Gradients
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 2
The Pascal Visual Object Classes (VOC) Challenge
International Journal of Computer Vision
3D deformable face tracking with a commodity depth camera
ECCV'10 Proceedings of the 11th European conference on computer vision conference on Computer vision: Part III
Real-time human detection using relational depth similarity features
ACCV'10 Proceedings of the 10th Asian conference on Computer vision - Volume Part IV
Interactive 3D modeling of indoor environments with a consumer depth camera
Proceedings of the 13th international conference on Ubiquitous computing
Human detection using oriented histograms of flow and appearance
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part II
Object recognition with hierarchical kernel descriptors
CVPR '11 Proceedings of the 2011 IEEE Conference on Computer Vision and Pattern Recognition
Real-time human pose recognition in parts from single depth images
CVPR '11 Proceedings of the 2011 IEEE Conference on Computer Vision and Pattern Recognition
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We propose a feature, the Histogram of Oriented Normal Vectors (HONV), designed specifically to capture local geometric characteristics for object recognition with a depth sensor. Through our derivation, the normal vector orientation represented as an ordered pair of azimuthal angle and zenith angle can be easily computed from the gradients of the depth image. We form the HONV as a concatenation of local histograms of azimuthal angle and zenith angle. Since the HONV is inherently the local distribution of the tangent plane orientation of an object surface, we use it as a feature for object detection/classification tasks. The object detection experiments on the standard RGB-D dataset [1] and a self-collected Chair-D dataset show that the HONV significantly outperforms traditional features such as HOG on the depth image and HOG on the intensity image, with an improvement of 11.6% in average precision. For object classification, the HONV achieved 5.0% improvement over state-of-the-art approaches.