SGHs for 3D local surface description

Abstract

This study proposes a distinctive and robust spatial and geometric histograms (SGHs) feature descriptor for three‐dimensional (3D) local surface description. The authors also introduce a new local reference frame for the generation of their SGH descriptor. To fully describe a local surface, the SGH descriptor considers both spatial distribution and geometrical characteristics in its underlying support region. To encode neighbourhood information, the SGH descriptor is constructed using histogram statistics with spatial partition and interpolation strategies. The performance of the SGH descriptor was rigorously tested on six public datasets for applications of both 3D object recognition and registration. Compared to eight state‐of‐the‐art descriptors, experimental results show that SGH achieves the best performance on noise‐free data. It also produces the best results even under different nuisances. The promising descriptiveness and robustness of their SGH descriptor have been fully demonstrated.

Keywords

• SGH descriptor
• SGHs
• 3D local surface description
• distinctive spatial
• robust spatial
• three-dimensional local surface description