Publications

B. Steder, R. B. Rusu, K. Konolige, and W. Burgard.
NARF: 3D Range Image Features for Object Recognition.
In Workshop on Defining and Solving Realistic Perception Problems in Personal Robotics at the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS). 2010.

Abstract

We present our findings regarding a novel method for interest point detection and feature descriptor calculation in 3D range data called NARF (Normal Aligned Radial Feature). The method makes explicit use of object boundary information and tries to extract the features in areas where the surface is stable but has substantial change in the vicinity.

BibTeX entry:

@inproceedings{steder10irosws,
  author = {Steder, B. and Rusu, R. B. and Konolige, K. and Burgard, W.},
  booktitle = {Workshop on Defining and Solving Realistic Perception Problems               
     in Personal Robotics at the IEEE/RSJ Int. Conf. on               
     Intelligent Robots and Systems (IROS)},
  year = {2010},
  title = {{NARF}: {3D} Range Image Features for Object Recognition}
}