B-SHOT: a binary 3D feature descriptor for fast Keypoint matching on 3D point clouds. Prakhya, S., M., Liu, B., Lin, W., Jakhetiya, V., & Guntuku, S., C. Autonomous Robots, 41(7):1501-1520, IEEE, 2017. doi abstract bibtex We present the first attempt in creating a binary 3D feature descriptor for fast and efficient keypoint matching on 3D point clouds. Specifically, we propose a binarization technique and apply it on the state-of-the-art 3D feature descriptor, SHOT (Salti et al., Comput Vision Image Underst 125:251–264, 2014) to create the first binary 3D feature descriptor, which we call B-SHOT. B-SHOT requires 32 times lesser memory for its representation while being six times faster in feature descriptor matching, when compared to the SHOT feature descriptor. Next, we propose a robust evaluation metric, specifically for 3D feature descriptors. A comprehensive evaluation on standard benchmarks reveals that B-SHOT offers comparable keypoint matching performance to that of the state-of-the-art real valued 3D feature descriptors, albeit at dramatically lower computational and memory costs.
@article{
title = {B-SHOT: a binary 3D feature descriptor for fast Keypoint matching on 3D point clouds},
type = {article},
year = {2017},
keywords = {3D Binary feature descriptors,3D keypoint matching,Binarization,Point cloud registration},
pages = {1501-1520},
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publisher = {IEEE},
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abstract = {We present the first attempt in creating a binary 3D feature descriptor for fast and efficient keypoint matching on 3D point clouds. Specifically, we propose a binarization technique and apply it on the state-of-the-art 3D feature descriptor, SHOT (Salti et al., Comput Vision Image Underst 125:251–264, 2014) to create the first binary 3D feature descriptor, which we call B-SHOT. B-SHOT requires 32 times lesser memory for its representation while being six times faster in feature descriptor matching, when compared to the SHOT feature descriptor. Next, we propose a robust evaluation metric, specifically for 3D feature descriptors. A comprehensive evaluation on standard benchmarks reveals that B-SHOT offers comparable keypoint matching performance to that of the state-of-the-art real valued 3D feature descriptors, albeit at dramatically lower computational and memory costs.},
bibtype = {article},
author = {Prakhya, Sai Manoj and Liu, Bingbing and Lin, Weisi and Jakhetiya, Vinit and Guntuku, Sharath Chandra},
doi = {10.1007/s10514-016-9612-y},
journal = {Autonomous Robots},
number = {7}
}
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