{"id":"https://openalex.org/W2014666004","doi":"https://doi.org/10.1109/iros.2012.6385552","title":"Evaluation of 3D feature descriptors for classification of surface geometries in point clouds","display_name":"Evaluation of 3D feature descriptors for classification of surface geometries in point clouds","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2014666004","doi":"https://doi.org/10.1109/iros.2012.6385552","mag":"2014666004"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6385552","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385552","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://publica.fraunhofer.de/documents/N-225290.html","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5072132304","display_name":"Georg Arbeiter","orcid":null},"institutions":[{"id":"https://openalex.org/I3018473509","display_name":"Fraunhofer Institute for Manufacturing Engineering and Automation","ror":"https://ror.org/01rvqha10","country_code":"DE","type":"facility","lineage":["https://openalex.org/I3018473509","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Georg Arbeiter","raw_affiliation_strings":["Institute for Manufacturing Engineering and Automation, Fraunhofer IPA, 70569 Stuttgart, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Manufacturing Engineering and Automation, Fraunhofer IPA, 70569 Stuttgart, Germany","institution_ids":["https://openalex.org/I3018473509"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032079354","display_name":"Steffen Fuchs","orcid":"https://orcid.org/0000-0001-9619-4329"},"institutions":[{"id":"https://openalex.org/I3018473509","display_name":"Fraunhofer Institute for Manufacturing Engineering and Automation","ror":"https://ror.org/01rvqha10","country_code":"DE","type":"facility","lineage":["https://openalex.org/I3018473509","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Steffen Fuchs","raw_affiliation_strings":["Institute for Manufacturing Engineering and Automation, Fraunhofer IPA, 70569 Stuttgart, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Manufacturing Engineering and Automation, Fraunhofer IPA, 70569 Stuttgart, Germany","institution_ids":["https://openalex.org/I3018473509"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003111090","display_name":"Richard Bormann","orcid":"https://orcid.org/0000-0002-4546-3143"},"institutions":[{"id":"https://openalex.org/I3018473509","display_name":"Fraunhofer Institute for Manufacturing Engineering and Automation","ror":"https://ror.org/01rvqha10","country_code":"DE","type":"facility","lineage":["https://openalex.org/I3018473509","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Richard Bormann","raw_affiliation_strings":["Institute for Manufacturing Engineering and Automation, Fraunhofer IPA, 70569 Stuttgart, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Manufacturing Engineering and Automation, Fraunhofer IPA, 70569 Stuttgart, Germany","institution_ids":["https://openalex.org/I3018473509"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108428739","display_name":"Jan Fischer","orcid":null},"institutions":[{"id":"https://openalex.org/I3018473509","display_name":"Fraunhofer Institute for Manufacturing Engineering and Automation","ror":"https://ror.org/01rvqha10","country_code":"DE","type":"facility","lineage":["https://openalex.org/I3018473509","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jan Fischer","raw_affiliation_strings":["Institute for Manufacturing Engineering and Automation, Fraunhofer IPA, 70569 Stuttgart, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Manufacturing Engineering and Automation, Fraunhofer IPA, 70569 Stuttgart, Germany","institution_ids":["https://openalex.org/I3018473509"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048205111","display_name":"Alexander Verl","orcid":"https://orcid.org/0000-0002-2548-6620"},"institutions":[{"id":"https://openalex.org/I3018473509","display_name":"Fraunhofer Institute for Manufacturing Engineering and Automation","ror":"https://ror.org/01rvqha10","country_code":"DE","type":"facility","lineage":["https://openalex.org/I3018473509","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alexander Verl","raw_affiliation_strings":["Institute for Manufacturing Engineering and Automation, Fraunhofer IPA, 70569 Stuttgart, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Manufacturing Engineering and Automation, Fraunhofer IPA, 70569 Stuttgart, Germany","institution_ids":["https://openalex.org/I3018473509"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":112.1633,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.99822936,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1644","last_page":"1650"},"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":0.9988999962806702,"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/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.8532397747039795},{"id":"https://openalex.org/keywords/histogram","display_name":"Histogram","score":0.7063870429992676},{"id":"https://openalex.org/keywords/discriminative-model","display_name":"Discriminative model","score":0.6996369361877441},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6677475571632385},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6592211723327637},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.654584527015686},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.5741641521453857},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.5275599360466003},{"id":"https://openalex.org/keywords/classifier","display_name":"Classifier (UML)","score":0.49842357635498047},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4716070294380188},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4635576009750366},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4188547730445862},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22465240955352783},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.12652334570884705},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.07611668109893799}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8532397747039795},{"id":"https://openalex.org/C53533937","wikidata":"https://www.wikidata.org/wiki/Q185020","display_name":"Histogram","level":3,"score":0.7063870429992676},{"id":"https://openalex.org/C97931131","wikidata":"https://www.wikidata.org/wiki/Q5282087","display_name":"Discriminative model","level":2,"score":0.6996369361877441},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6677475571632385},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6592211723327637},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.654584527015686},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.5741641521453857},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.5275599360466003},{"id":"https://openalex.org/C95623464","wikidata":"https://www.wikidata.org/wiki/Q1096149","display_name":"Classifier (UML)","level":2,"score":0.49842357635498047},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4716070294380188},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4635576009750366},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4188547730445862},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22465240955352783},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.12652334570884705},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.07611668109893799},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros.2012.6385552","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385552","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:fraunhofer.de:N-225290","is_oa":true,"landing_page_url":"http://publica.fraunhofer.de/documents/N-225290.html","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Fraunhofer IPA","raw_type":"Conference Paper"},{"id":"pmh:oai:publica.fraunhofer.de:publica/377570","is_oa":false,"landing_page_url":"https://publica.fraunhofer.de/handle/publica/377570","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference paper"},{"id":"doi:10.24406/publica-r-377570","is_oa":true,"landing_page_url":"https://doi.org/10.24406/publica-r-377570","pdf_url":null,"source":{"id":"https://openalex.org/S7407052912","display_name":"Fraunhofer-Gesellschaft zur F\u00f6rderung der angewandten Forschung e.V","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:fraunhofer.de:N-225290","is_oa":true,"landing_page_url":"http://publica.fraunhofer.de/documents/N-225290.html","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Fraunhofer IPA","raw_type":"Conference Paper"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/10","score":0.6700000166893005,"display_name":"Reduced inequalities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W52592340","https://openalex.org/W1965574731","https://openalex.org/W1990968818","https://openalex.org/W2001695893","https://openalex.org/W2033574012","https://openalex.org/W2034785770","https://openalex.org/W2099606917","https://openalex.org/W2109384047","https://openalex.org/W2124154128","https://openalex.org/W2125517557","https://openalex.org/W2126833203","https://openalex.org/W2133098875","https://openalex.org/W2151837863","https://openalex.org/W2152864241","https://openalex.org/W2154980168","https://openalex.org/W2160821342","https://openalex.org/W2167387804","https://openalex.org/W2171592532","https://openalex.org/W2996830232","https://openalex.org/W6641617661"],"related_works":["https://openalex.org/W2965546495","https://openalex.org/W4389116644","https://openalex.org/W2153315159","https://openalex.org/W3103844505","https://openalex.org/W259157601","https://openalex.org/W4205463238","https://openalex.org/W2761785940","https://openalex.org/W2110523656","https://openalex.org/W1482209366","https://openalex.org/W1487808658"],"abstract_inverted_index":{"This":[0],"paper":[1],"investigates":[2],"existing":[3],"methods":[4],"for":[5,45,107],"3D":[6],"point":[7,68,101],"feature":[8],"description":[9],"with":[10],"a":[11],"special":[12],"emphasis":[13],"on":[14,97],"their":[15,82],"expressiveness":[16],"of":[17,47],"the":[18,113],"local":[19,59],"surface":[20],"geometry.":[21],"We":[22],"choose":[23],"three":[24],"promising":[25],"descriptors,":[26],"namely":[27],"Radius-Based":[28],"Surface":[29],"Descriptor":[30],"(RSD),":[31],"Principal":[32],"Curvatures":[33],"(PC)":[34],"and":[35,41,85,99,111],"Fast":[36],"Point":[37],"Feature":[38],"Histograms":[39],"(FPFH),":[40],"present":[42],"an":[43,77],"approach":[44],"each":[46],"them":[48],"to":[49,56,75,80,116],"show":[50,81],"how":[51],"they":[52],"can":[53],"be":[54],"used":[55],"classify":[57],"primitive":[58],"surfaces":[60],"such":[61],"as":[62],"cylinders,":[63],"edges":[64],"or":[65],"corners":[66],"in":[67,87],"clouds.":[69],"Furthermore":[70],"these":[71],"descriptor-classifier":[72],"combinations":[73],"have":[74],"hold":[76],"in-depth":[78],"evaluation":[79],"discriminative":[83],"power":[84],"robustness":[86],"real":[88],"world":[89],"scenarios.":[90],"Our":[91],"analysis":[92],"incorporates":[93],"detailed":[94],"accuracy":[95],"measurements":[96],"sparse":[98],"noisy":[100],"clouds":[102],"representing":[103],"typical":[104],"indoor":[105],"setups":[106],"mobile":[108],"robot":[109],"tasks":[110],"considers":[112],"resource":[114],"consumption":[115],"assure":[117],"real-time":[118],"processing.":[119]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":9},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":10},{"year":2013,"cited_by_count":1}],"updated_date":"2026-06-17T08:01:34.144755","created_date":"2025-10-10T00:00:00"}
