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Depth scans acquired from different views may contain nuisances such as noise, occlusion, and varying point density. We propose a novel Signature of Geometric Centroids descriptor, supporting direct shape matching on the scans, without requiring any preprocessing such as scan denoising or converting into a mesh. First, we construct the descriptor by voxelizing the local shape within a uniquely defined local reference frame and concatenating geometric centroid and point density features extracted from each voxel. Second, we compare two descriptors by employing only corresponding voxels that are both non-empty, thus supporting matching incomplete local shape such as those close to scan boundary. Third, we propose a descriptor saliency measure and compute it from a descriptor-graph to improve shape matching performance. We demonstrate the descriptors robustness and effectiveness for shape matching by comparing it with three state-of-the-art descriptors, and applying it to object/scene reconstruction and 3D object recognition.
Point signature, a representation describing the structural neighborhood of a point in 3D shapes, can be applied to establish correspondences between points in 3D shapes. Conventional methods apply a weight-sharing network, e.g., any kind of graph ne
The goal of this project is to learn a 3D shape representation that enables accurate surface reconstruction, compact storage, efficient computation, consistency for similar shapes, generalization across diverse shape categories, and inference from de
We address the problem of 3D shape registration and we propose a novel technique based on spectral graph theory and probabilistic matching. The task of 3D shape analysis involves tracking, recognition, registration, etc. Analyzing 3D data in a single
Matching of images and analysis of shape differences is traditionally pursued by energy minimization of paths of deformations acting to match the shape objects. In the Large Deformation Diffeomorphic Metric Mapping (LDDMM) framework, iterative gradie
Actions as simple as grasping an object or navigating around it require a rich understanding of that objects 3D shape from a given viewpoint. In this paper we repurpose powerful learning machinery, originally developed for object classification, to d