BOLD features to detect texture-less objects

Object detection in images withstanding significant clutter and occlusion is still a challenging task whenever the object surface is characterized by poor informative content. We propose to tackle this problem by a compact and distinctive representation of groups of neighboring line segments aggregated over limited spatial supports and invariant to rotation, translation and scale changes. Peculiarly, our proposal allows for leveraging on the inherent strengths of descriptor-based approaches, i.e. robustness to occlusion and clutter and scalability with respect to the size of the model library, also when dealing with scarcely textured objects.