The representation, recognition, and locating of 3-d objects
International Journal of Robotics Research
Structural Indexing: Efficient 3-D Object Recognition
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
Recognizing geons from superquadratics fitted to range data
Image and Vision Computing - Special issue: range image understanding
Numerical recipes in C (2nd ed.): the art of scientific computing
Numerical recipes in C (2nd ed.): the art of scientific computing
Visual learning and recognition of 3-D objects from appearance
International Journal of Computer Vision
COSMOS-A Representation Scheme for 3D Free-Form Objects
IEEE Transactions on Pattern Analysis and Machine Intelligence
Recognizing Objects by Matching Oriented Points
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
Closest Point Search in High Dimensions
CVPR '96 Proceedings of the 1996 Conference on Computer Vision and Pattern Recognition (CVPR '96)
Using Spin Images for Efficient Object Recognition in Cluttered 3D Scenes
IEEE Transactions on Pattern Analysis and Machine Intelligence
Feature Space Trajectory Methods for Active Computer Vision
IEEE Transactions on Pattern Analysis and Machine Intelligence
Automatic crude patch registration: toward automatic 3D model building
Computer Vision and Image Understanding - Registration and fusion of range images
A Reflective Symmetry Descriptor
ECCV '02 Proceedings of the 7th European Conference on Computer Vision-Part II
Harmonic Shape Images: A Representation for 3D Free-Form Surfaces Based on Energy Minimization
EMMCVPR '99 Proceedings of the Second International Workshop on Energy Minimization Methods in Computer Vision and Pattern Recognition
Spin Images and Neural Networks for Efficient Content-Based Retrieval in 3D Object Databases
CIVR '02 Proceedings of the International Conference on Image and Video Retrieval
A Shape Relationship Descriptor for Radiation Therapy Planning
MICCAI '09 Proceedings of the 12th International Conference on Medical Image Computing and Computer-Assisted Intervention: Part II
Large data sets and confusing scenes in 3-D surface matching and recognition
3DIM'99 Proceedings of the 2nd international conference on 3-D digital imaging and modeling
Scene parsing using a prior world model
International Journal of Robotics Research
Detection and localization of the top object in the stack of objects
ISVC'06 Proceedings of the Second international conference on Advances in Visual Computing - Volume Part II
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We present a 3-D shape-based object recognition system for simultaneous recognition of multiple objects in scenes containing clutter and occlusion. Recognition is based on matching surfaces by matching points using the spin-image representation. The spin-image is a data level shape descriptor that is used to match surfaces represented as surface meshes. We present a compression scheme for spin-images that results in efficient multiple object recognition which we verify with results showing the simultaneous recognition of multiple objects from a library of 20 models. Furthermore, we demonstrate the robust performance of recognition in the presence of clutter and occlusion through analysis of recognition trials on 100 scenes.