{"id":"https://openalex.org/W2161168419","doi":"https://doi.org/10.1109/cvpr.2010.5540108","title":"Model globally, match locally: Efficient and robust 3D object recognition","display_name":"Model globally, match locally: Efficient and robust 3D object recognition","publication_year":2010,"publication_date":"2010-06-01","ids":{"openalex":"https://openalex.org/W2161168419","doi":"https://doi.org/10.1109/cvpr.2010.5540108","mag":"2161168419"},"language":"en","primary_location":{"id":"doi:10.1109/cvpr.2010.5540108","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cvpr.2010.5540108","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE Computer Society Conference on Computer Vision and Pattern Recognition","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5038473313","display_name":"Bertram Drost","orcid":"https://orcid.org/0000-0002-4109-6999"},"institutions":[{"id":"https://openalex.org/I4210087817","display_name":"Software (Germany)","ror":"https://ror.org/004g36n56","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210087817"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Bertram Drost","raw_affiliation_strings":["MVTec Software GmbH, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MVTec Software GmbH, Munich, Germany","institution_ids":["https://openalex.org/I4210087817"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031522635","display_name":"Markus Ulrich","orcid":"https://orcid.org/0000-0001-8457-5554"},"institutions":[{"id":"https://openalex.org/I4210087817","display_name":"Software (Germany)","ror":"https://ror.org/004g36n56","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210087817"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Markus Ulrich","raw_affiliation_strings":["MVTec Software GmbH, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MVTec Software GmbH, Munich, Germany","institution_ids":["https://openalex.org/I4210087817"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046896448","display_name":"Nassir Navab","orcid":"https://orcid.org/0000-0002-6032-5611"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Nassir Navab","raw_affiliation_strings":["Department of Computer Science, Technical University Munich, Garching, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Technical University Munich, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045382199","display_name":"Slobodan Ili\u0107","orcid":"https://orcid.org/0000-0002-3413-1936"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Slobodan Ilic","raw_affiliation_strings":["Department of Computer Science, Technical University Munich, Garching, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Technical University Munich, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":593.922,"has_fulltext":false,"cited_by_count":982,"citation_normalized_percentile":{"value":0.99996078,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"998","last_page":"1005"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.8504266738891602},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7268270254135132},{"id":"https://openalex.org/keywords/clutter","display_name":"Clutter","score":0.7146329283714294},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5933297276496887},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5788288116455078},{"id":"https://openalex.org/keywords/cognitive-neuroscience-of-visual-object-recognition","display_name":"Cognitive neuroscience of visual object recognition","score":0.5712063312530518},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.5267509818077087},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5162308216094971},{"id":"https://openalex.org/keywords/voting","display_name":"Voting","score":0.4995849132537842},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4881895184516907},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.48811468482017517},{"id":"https://openalex.org/keywords/feature-vector","display_name":"Feature vector","score":0.4290889501571655},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.42338982224464417},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3594664931297302},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16909879446029663},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.1335567831993103},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.08473160862922668}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8504266738891602},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7268270254135132},{"id":"https://openalex.org/C132094186","wikidata":"https://www.wikidata.org/wiki/Q641585","display_name":"Clutter","level":3,"score":0.7146329283714294},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5933297276496887},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5788288116455078},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.5712063312530518},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.5267509818077087},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5162308216094971},{"id":"https://openalex.org/C520049643","wikidata":"https://www.wikidata.org/wiki/Q189760","display_name":"Voting","level":3,"score":0.4995849132537842},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4881895184516907},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.48811468482017517},{"id":"https://openalex.org/C83665646","wikidata":"https://www.wikidata.org/wiki/Q42139305","display_name":"Feature vector","level":2,"score":0.4290889501571655},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.42338982224464417},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3594664931297302},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16909879446029663},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.1335567831993103},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.08473160862922668},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cvpr.2010.5540108","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cvpr.2010.5540108","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE Computer Society Conference on Computer Vision and Pattern Recognition","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.167.4045","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.167.4045","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://campar.cs.tum.edu/pub/drost2010CVPR/drost2010CVPR.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5299999713897705,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1525082337","https://openalex.org/W1563354748","https://openalex.org/W1970132064","https://openalex.org/W1983670955","https://openalex.org/W1985699916","https://openalex.org/W1996773532","https://openalex.org/W2000018820","https://openalex.org/W2003221431","https://openalex.org/W2025062188","https://openalex.org/W2033834476","https://openalex.org/W2056524196","https://openalex.org/W2061010610","https://openalex.org/W2093695366","https://openalex.org/W2099606917","https://openalex.org/W2107235635","https://openalex.org/W2108605127","https://openalex.org/W2118104180","https://openalex.org/W2121502845","https://openalex.org/W2131629720","https://openalex.org/W2136020167","https://openalex.org/W2144473577","https://openalex.org/W2154980168","https://openalex.org/W2159242978","https://openalex.org/W2160821342","https://openalex.org/W2162411291","https://openalex.org/W2169113723","https://openalex.org/W6646646592","https://openalex.org/W6651095415","https://openalex.org/W6656866612","https://openalex.org/W6676233098","https://openalex.org/W6677980251","https://openalex.org/W6680366863"],"related_works":["https://openalex.org/W2130674020","https://openalex.org/W2093748878","https://openalex.org/W2333771223","https://openalex.org/W2120056845","https://openalex.org/W1981531423","https://openalex.org/W4394861761","https://openalex.org/W1977371217","https://openalex.org/W2106002764","https://openalex.org/W1579998189","https://openalex.org/W2172615727"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,71,77,83,121,133,145,164,173,177],"problem":[4],"of":[5,60,123,135,144,163,176],"recognizing":[6],"free-form":[7],"3D":[8],"objects":[9],"in":[10,100,132],"point":[11,19,42,63,72,97],"clouds.":[12],"Compared":[13,141],"to":[14,76,142],"traditional":[15],"approaches":[16,147],"based":[17,39],"on":[18,23,40,82,113],"descriptors,":[20],"which":[21],"depend":[22],"local":[24],"information":[25],"around":[26],"points,":[27],"we":[28,148],"propose":[29],"a":[30,35,51,68,114,157],"novel":[31],"method":[32,168],"that":[33,47,155],"creates":[34],"global":[36,56],"model":[37,48,57,62,84],"description":[38,58],"oriented":[41],"pair":[43,64,73],"features":[44,65,81],"and":[45,66,95,126,138,153],"matches":[46],"locally":[49,107],"using":[50,91,108],"fast":[52,102],"voting":[53,111],"scheme.":[54],"The":[55],"consists":[59],"all":[61],"represents":[67],"mapping":[69],"from":[70],"feature":[74],"space":[75],"model,":[78],"where":[79],"similar":[80],"are":[85],"grouped":[86],"together.":[87],"Such":[88],"representation":[89],"allows":[90],"much":[92,170],"sparser":[93],"object":[94],"scene":[96],"clouds,":[98],"resulting":[99],"very":[101],"performance.":[103],"Recognition":[104],"is":[105,169],"done":[106],"an":[109],"efficient":[110],"scheme":[112],"reduced":[115],"two-dimensional":[116],"search":[117],"space.":[118],"We":[119],"demonstrate":[120,154],"efficiency":[122],"our":[124,167],"approach":[125],"show":[127],"its":[128],"high":[129],"recognition":[130,151,165],"performance":[131,166],"case":[134],"noise,":[136],"clutter":[137],"partial":[139],"occlusions.":[140],"state":[143,175],"art":[146,178],"achieve":[149],"better":[150],"rates,":[152],"with":[156],"slight":[158],"or":[159],"even":[160],"no":[161],"sacrifice":[162],"faster":[171],"then":[172],"current":[174],"approaches.":[179]},"counts_by_year":[{"year":2026,"cited_by_count":10},{"year":2025,"cited_by_count":64},{"year":2024,"cited_by_count":96},{"year":2023,"cited_by_count":100},{"year":2022,"cited_by_count":93},{"year":2021,"cited_by_count":114},{"year":2020,"cited_by_count":95},{"year":2019,"cited_by_count":98},{"year":2018,"cited_by_count":58},{"year":2017,"cited_by_count":66},{"year":2016,"cited_by_count":45},{"year":2015,"cited_by_count":43},{"year":2014,"cited_by_count":31},{"year":2013,"cited_by_count":33},{"year":2012,"cited_by_count":22}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
