The DOI matches its Crossref record; 3 of the 3 references it cites were found in a registry or an index.
Point feature extraction on 3D range scans taking into account object boundaries
Abstract
In this paper we address the topic of feature extraction in 3D point cloud data for object recognition and pose identification. We present a novel interest keypoint extraction method that operates on range images generated from arbitrary 3D point clouds, which explicitly considers the borders of the objects identified by transitions from foreground to background. We furthermore present a feature descriptor that takes the same information into account. We have implemented our approach and present rigorous experiments in which we analyze the individual components with respect to their repeatability and matching capabilities and evaluate the usefulness for point feature based object detection methods.
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Citations
Cites
Object recognition from local scale-invariant features
Lowe, D. G. (1999) · Proceedings of the Seventh IEEE International Conference on Computer Vision · doi:10.1109/iccv.1999.790410 · Cited by 16,472
SURF: Speeded Up Robust Features
Bay, H., Tuytelaars, T., & Van Gool, L. (2006) · Lecture Notes in Computer Science · doi:10.1007/11744023_32 · Cited by 14,955 · cited 3×
“While SIFT and SURF are not directly transferable to 3D scans, many of the general concepts, such as the usage of gradients and the extraction of a unique orientation, are useful there.”
BackgroundMethodA comparison of affine region detectors
Mikolajczyk, K., Tuytelaars, T., Schmid, C., Zisserman, A., Matas, J., Schaffalitzky, F., Kadir, T., & Gool, L. V. (2005) · International Journal of Computer Vision · doi:10.1007/s11263-005-3848-x · Cited by 2,939
Cited by
3D is here: Point Cloud Library (PCL)
Rusu, R. B., & Cousins, S. (2011) · 2011 IEEE International Conference on Robotics and Automation · doi:10.1109/icra.2011.5980567 · Cited by 4,885
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Metadata
- Authors
- Steder, B., Rusu, R. B., Konolige, K., & Burgard, W.
- Venue
- 2011 IEEE International Conference on Robotics and Automation
- Publisher
- IEEE
- Published
- 2011-05
- Pages
- 2601-2608
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2132761823
- Cited by
- 272
- References
- 3
- FWCI
- 22.48
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Steder, B., Rusu, R. B., Konolige, K., & Burgard, W. (2011). Point feature extraction on 3D range scans taking into account object boundaries. 2011 IEEE International Conference on Robotics and Automation. https://doi.org/10.1109/icra.2011.5980187
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