Invariant surface characteristics for 3D object recognition in range images
Computer Vision, Graphics, and Image Processing - Lectures notes in computer science, Vol. 201 (G. Goos and J. Hartmanis, Eds.)
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IEEE Transactions on Pattern Analysis and Machine Intelligence
International Journal of Computer Vision
Object recognition by computer: the role of geometric constraints
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Least-Squares Estimation of Transformation Parameters Between Two Point Patterns
IEEE Transactions on Pattern Analysis and Machine Intelligence
Recognizing solid objects by alignment with an image
International Journal of Computer Vision
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
A Method for Registration of 3-D Shapes
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
Zippered polygon meshes from range images
SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
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International Journal of Computer Vision
Efficient Pose Clustering Using a Randomized Algorithm
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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
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IEEE Transactions on Pattern Analysis and Machine Intelligence
IEEE Transactions on Pattern Analysis and Machine Intelligence
ACM Computing Surveys (CSUR)
A survey of free-form object representation and recognition techniques
Computer Vision and Image Understanding
Constructing Hierarchies for Triangle Meshes
IEEE Transactions on Visualization and Computer Graphics
Simplification of Tetrahedral Meshes with Error Bounds
IEEE Transactions on Visualization and Computer Graphics
Geometric Hashing: An Overview
IEEE Computational Science & Engineering
A Spherical Representation for Recognition of Free-Form Surfaces
IEEE Transactions on Pattern Analysis and Machine Intelligence
Estimating the tensor of curvature of a surface from a polyhedral approximation
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
Free-Form Surface Registration Using Surface Signatures
ICCV '99 Proceedings of the International Conference on Computer Vision-Volume 2 - Volume 2
Three-Dimensional Recognition of Solid Objects from a Two- Dimensional Image
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A New Paradigm for Recognizing 3-D Object Shapes from Range Data
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Experimental analysis of harmonic shape images
3DIM'99 Proceedings of the 2nd international conference on 3-D digital imaging and modeling
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We present a new algorithm for the registration of three-dimensional partially overlapping surfaces. It is based on an efficient scheme for the rejection of false point correspondences (correspondence outliers) and does not require initial pose estimation or feature extraction. An initial list of corresponding points is first derived using the regional properties of vertices on both surfaces. From these point correspondences, pairs of corresponding rigid triplets are formed. The normal vectors at the vertices of each corresponding triplet are used to compute the candidate rotations. By clustering the candidate rotation axes and candidate rotation angles separately, a large number of false correspondences are eliminated and an approximate rotation is decided, from which an approximate translation is also obtained. Finally, the optimal transformation parameters are determined by further refining the estimated parameters in an iterative manner. Mathematical analysis and experimental results show that the registration process is fast and accurate even when the objects are regularly shaped and contain many regionally similar surface patches.