Hybrid 3D Surface Description with Global Frames and Local Signatures of Histograms

摘要

This paper presents a novel 3D descriptor named Frame-SHOT to combine global structural frame with local surface information. Global feature descriptors are generally more descriptive for surface representation, while susceptible to occlusion and clutter. In contrast, local feature descriptors are more robust, while less discriminative due to the limit of the support region. We employ the advantages of these two methods by combining both local and global information for surface description. The Signature of Histograms of Orientation (SHOT) descriptor is used to characterize the local surface and structural frame points of the object are used to encode the global surface. We have compared the proposed Frame-SHOT descriptor with the state-of-the-art global and local methods on two public datasets. The results show that our proposed descriptor is more descriptive and robust for surface matching and recognition.