In 1962 Hough earned the patent for a method [1], popularly called Hough Transform (HT)
that efficiently identifies lines in images. It is an important tool even after the golden jubilee …

An ideal point cloud registration framework should have superior accuracy, acceptable
efficiency, and strong generalizability. However, this is highly challenging since existing …

In this paper, we present a systematic literature review concerning 3D object recognition and
classification. We cover articles published between 2006 and 2016 available in three …

An established approach for 3D point cloud registration is to estimate the registration
function from 3D keypoint correspondences. Typically, a robust technique is required to …

LiDAR-based Simultaneous Localization and Map** (LiDAR-SLAM) uses the LiDAR
sensor to localize itself by observing environmental features and incrementally build the …

This article presents an efficient and robust estimator called compatibility-guided sampling
consensus (CG-SAC) to achieve accurate 3-D point cloud registration. For correspondence …

Place recognition is a key element of mobile robotics. It can assist with the “wake-up” and
“kidnapped robot” problems, where the robot position needs to be estimated without prior …

We propose a novel approach for verifying model hypotheses in cluttered and heavily
occluded 3D scenes. Instead of verifying one hypothesis at a time, as done by most state-of …

After decades of investigation, point cloud registration is still a challenging task in practice,
especially when the correspondences are contaminated by a large number of outliers. It may …

We present a method to automatically segment indoor scenes by detecting repeated objects.
Our algorithm scales to datasets with 198 million points and does not require any training …