COSMOS-A Representation Scheme for 3D Free-Form Objects
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Simple Algorithm for Nearest Neighbor Search in High Dimensions
IEEE Transactions on Pattern Analysis and Machine Intelligence
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STOC '98 Proceedings of the thirtieth annual ACM symposium on Theory of computing
Point Signatures: A New Representation for 3D Object Recognition
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IEEE Transactions on Pattern Analysis and Machine Intelligence
IEEE Transactions on Pattern Analysis and Machine Intelligence
MLESAC: a new robust estimator with application to estimating image geometry
Computer Vision and Image Understanding - Special issue on robusst statistical techniques in image understanding
A survey of free-form object representation and recognition techniques
Computer Vision and Image Understanding
ICP Registration Using Invariant Features
IEEE Transactions on Pattern Analysis and Machine Intelligence
ACM Transactions on Graphics (TOG)
IEEE Transactions on Pattern Analysis and Machine Intelligence
Similarity Search in High Dimensions via Hashing
VLDB '99 Proceedings of the 25th International Conference on Very Large Data Bases
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NRC '97 Proceedings of the International Conference on Recent Advances in 3-D Digital Imaging and Modeling
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ICCV '99 Proceedings of the International Conference on Computer Vision-Volume 2 - Volume 2
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ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Preemptive RANSAC for Live Structure and Motion Estimation
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
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ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
LSH forest: self-tuning indexes for similarity search
WWW '05 Proceedings of the 14th international conference on World Wide Web
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CVPR'04 Proceedings of the 2004 IEEE computer society conference on Computer vision and pattern recognition
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CVPR'04 Proceedings of the 2004 IEEE computer society conference on Computer vision and pattern recognition
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CVPR'03 Proceedings of the 2003 IEEE computer society conference on Computer vision and pattern recognition
Shapeme Histogram Projection and Matching for Partial Object Recognition
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MM '08 Proceedings of the 16th ACM international conference on Multimedia
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ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
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ACCV'07 Proceedings of the 8th Asian conference on Computer vision - Volume Part I
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Pattern Recognition Letters
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ACCV'10 Proceedings of the 10th Asian conference on Computer vision - Volume Part I
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ACM Transactions on Graphics (TOG) - Proceedings of ACM SIGGRAPH Asia 2012
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We propose a new method for rapid 3D object indexing that combines feature-based methods with coarse alignment-based matching techniques. Our approach achieves a sublinear complexity on the number of models, maintaining at the same time a high degree of performance for real 3D sensed data that is acquired in largely uncontrolled settings. The key component of our method is to first index surface descriptors computed at salient locations from the scene into the whole model database using the Locality Sensitive Hashing (LSH), a probabilistic approximate nearest neighbor method. Progressively complex geometric constraints are subsequently enforced to further prune the initial candidates and eliminate false correspondences due to inaccuracies in the surface descriptors and the errors of the LSH algorithm. The indexed models are selected based on the MAP rule using posterior probability of the models estimated in the joint 3D-signature space. Experiments with real 3D data employing a large database of vehicles, most of them very similar in shape, containing 1,000,000 features from more than 365 models demonstrate a high degree of performance in the presence of occlusion and obscuration, unmodeled vehicle interiors and part articulations, with an average processing time between 50 and 100 seconds per query.