Tutorial: Point Cloud Library: Three-Dimensional Object Recognition and 6 DOF Pose Estimation

TL;DR: An approach to indoor scene reconstruction from RGB-D video to combine geometric registration of scene fragments with robust global optimization based on line processes that substantially increases the accuracy of reconstructed scene models.

TL;DR: This paper compares ten popular local feature descriptors in the contexts of 3D object recognition, 3D shape retrieval, and 3D modeling and presents the performance results of these descriptors when combined with different 3D keypoint detection methods.

TL;DR: An overview of the inaugural Amazon Picking Challenge is presented along with a summary of a survey conducted among the 26 participating teams, highlighting mechanism design, perception, and motion planning algorithms, as well as software engineering practices that were most successful in solving a simplified order fulfillment task.

TL;DR: This paper makes an attempt to present a comprehensive analysis of the state-of-the-art methods for filtering point cloud, categorized into seven classes, which concentrate on their common and obvious traits.

TL;DR: This paper presents work on computing shape models that are computationally fast and invariant basic transformations like translation, scaling and rotation, and proposes shape detection using a feature called shape context, which is descriptive of the shape of the object.

TL;DR: PCL (Point Cloud Library) is presented, an advanced and extensive approach to the subject of 3D perception that contains state-of-the art algorithms for: filtering, feature estimation, surface reconstruction, registration, model fitting and segmentation.

TL;DR: A closed-form solution to the least-squares problem for three or more paints is presented, simplified by use of unit quaternions to represent rotation.

TL;DR: This paper modifications their mathematical expressions and performs a rigorous analysis on their robustness and complexity for the problem of 3D registration for overlapping point cloud views, and proposes an algorithm for the online computation of FPFH features for realtime applications.