A Pipeline for 3-D Object Recognition Based on Local Shape Description in Cluttered Scenes

In the last decades, 3-D object recognition has received significant attention. Particularly, in the presence of clutter and occlusion, 3-D object recognition is a challenging task. In this article, we present an object recognition pipeline to identify the objects from cluttered scenes. A highly descriptive, robust, and computationally efficient local shape descriptor (LSD) is first designed to establish the correspondences between a model point cloud and a scene point cloud. Then, a clustering method, which utilizes the local reference frames (LRFs) of the keypoints, is proposed to select the correct correspondences. Finally, an index is developed to verify the transformation hypotheses. The experiments are conducted to validate the proposed object recognition method. The experimental results demonstrate that the proposed LSD holds high descriptor matching performance and the clustering method can well group the correct correspondences. The index is also very effective to filter the false transformation hypotheses. All these enhance the recognition performance of our method.