{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,31]],"date-time":"2026-03-31T07:27:12Z","timestamp":1774942032441,"version":"3.50.1"},"reference-count":57,"publisher":"MDPI AG","issue":"5","license":[{"start":{"date-parts":[[2025,4,24]],"date-time":"2025-04-24T00:00:00Z","timestamp":1745452800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Natural Science Foundation of China","award":["42241169"],"award-info":[{"award-number":["42241169"]}]},{"name":"National Natural Science Foundation of China","award":["62205361"],"award-info":[{"award-number":["62205361"]}]},{"name":"National Natural Science Foundation of China","award":["23YF1455100"],"award-info":[{"award-number":["23YF1455100"]}]},{"name":"National Natural Science Foundation of China","award":["2021234"],"award-info":[{"award-number":["2021234"]}]},{"name":"National Natural Science Foundation of China","award":["22QA1410500"],"award-info":[{"award-number":["22QA1410500"]}]},{"name":"National Natural Science Foundation of China","award":["2019SHZDZX01"],"award-info":[{"award-number":["2019SHZDZX01"]}]},{"name":"National Natural Science Foundation of China","award":["2021ZD0300304"],"award-info":[{"award-number":["2021ZD0300304"]}]},{"name":"Shanghai Sailing Program","award":["42241169"],"award-info":[{"award-number":["42241169"]}]},{"name":"Shanghai Sailing Program","award":["62205361"],"award-info":[{"award-number":["62205361"]}]},{"name":"Shanghai Sailing Program","award":["23YF1455100"],"award-info":[{"award-number":["23YF1455100"]}]},{"name":"Shanghai Sailing Program","award":["2021234"],"award-info":[{"award-number":["2021234"]}]},{"name":"Shanghai Sailing Program","award":["22QA1410500"],"award-info":[{"award-number":["22QA1410500"]}]},{"name":"Shanghai Sailing Program","award":["2019SHZDZX01"],"award-info":[{"award-number":["2019SHZDZX01"]}]},{"name":"Shanghai Sailing Program","award":["2021ZD0300304"],"award-info":[{"award-number":["2021ZD0300304"]}]},{"name":"Youth Innovation Promotion Association, Chinese Academy of Sciences","award":["42241169"],"award-info":[{"award-number":["42241169"]}]},{"name":"Youth Innovation Promotion Association, Chinese Academy of Sciences","award":["62205361"],"award-info":[{"award-number":["62205361"]}]},{"name":"Youth Innovation Promotion Association, Chinese Academy of Sciences","award":["23YF1455100"],"award-info":[{"award-number":["23YF1455100"]}]},{"name":"Youth Innovation Promotion Association, Chinese Academy of Sciences","award":["2021234"],"award-info":[{"award-number":["2021234"]}]},{"name":"Youth Innovation Promotion Association, Chinese Academy of Sciences","award":["22QA1410500"],"award-info":[{"award-number":["22QA1410500"]}]},{"name":"Youth Innovation Promotion Association, Chinese Academy of Sciences","award":["2019SHZDZX01"],"award-info":[{"award-number":["2019SHZDZX01"]}]},{"name":"Youth Innovation Promotion Association, Chinese Academy of Sciences","award":["2021ZD0300304"],"award-info":[{"award-number":["2021ZD0300304"]}]},{"DOI":"10.13039\/501100013105","name":"Shanghai Rising-Star Program","doi-asserted-by":"publisher","award":["42241169"],"award-info":[{"award-number":["42241169"]}],"id":[{"id":"10.13039\/501100013105","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100013105","name":"Shanghai Rising-Star Program","doi-asserted-by":"publisher","award":["62205361"],"award-info":[{"award-number":["62205361"]}],"id":[{"id":"10.13039\/501100013105","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100013105","name":"Shanghai Rising-Star Program","doi-asserted-by":"publisher","award":["23YF1455100"],"award-info":[{"award-number":["23YF1455100"]}],"id":[{"id":"10.13039\/501100013105","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100013105","name":"Shanghai Rising-Star Program","doi-asserted-by":"publisher","award":["2021234"],"award-info":[{"award-number":["2021234"]}],"id":[{"id":"10.13039\/501100013105","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100013105","name":"Shanghai Rising-Star Program","doi-asserted-by":"publisher","award":["22QA1410500"],"award-info":[{"award-number":["22QA1410500"]}],"id":[{"id":"10.13039\/501100013105","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100013105","name":"Shanghai Rising-Star Program","doi-asserted-by":"publisher","award":["2019SHZDZX01"],"award-info":[{"award-number":["2019SHZDZX01"]}],"id":[{"id":"10.13039\/501100013105","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100013105","name":"Shanghai Rising-Star Program","doi-asserted-by":"publisher","award":["2021ZD0300304"],"award-info":[{"award-number":["2021ZD0300304"]}],"id":[{"id":"10.13039\/501100013105","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Shanghai Municipal Science and Technology Major Project of Science and Technology Commission of Shanghai Municipality","award":["42241169"],"award-info":[{"award-number":["42241169"]}]},{"name":"Shanghai Municipal Science and Technology Major Project of Science and Technology Commission of Shanghai Municipality","award":["62205361"],"award-info":[{"award-number":["62205361"]}]},{"name":"Shanghai Municipal Science and Technology Major Project of Science and Technology Commission of Shanghai Municipality","award":["23YF1455100"],"award-info":[{"award-number":["23YF1455100"]}]},{"name":"Shanghai Municipal Science and Technology Major Project of Science and Technology Commission of Shanghai Municipality","award":["2021234"],"award-info":[{"award-number":["2021234"]}]},{"name":"Shanghai Municipal Science and Technology Major Project of Science and Technology Commission of Shanghai Municipality","award":["22QA1410500"],"award-info":[{"award-number":["22QA1410500"]}]},{"name":"Shanghai Municipal Science and Technology Major Project of Science and Technology Commission of Shanghai Municipality","award":["2019SHZDZX01"],"award-info":[{"award-number":["2019SHZDZX01"]}]},{"name":"Shanghai Municipal Science and Technology Major Project of Science and Technology Commission of Shanghai Municipality","award":["2021ZD0300304"],"award-info":[{"award-number":["2021ZD0300304"]}]},{"name":"Innovation Program for Quantum Science and Technology","award":["42241169"],"award-info":[{"award-number":["42241169"]}]},{"name":"Innovation Program for Quantum Science and Technology","award":["62205361"],"award-info":[{"award-number":["62205361"]}]},{"name":"Innovation Program for Quantum Science and Technology","award":["23YF1455100"],"award-info":[{"award-number":["23YF1455100"]}]},{"name":"Innovation Program for Quantum Science and Technology","award":["2021234"],"award-info":[{"award-number":["2021234"]}]},{"name":"Innovation Program for Quantum Science and Technology","award":["22QA1410500"],"award-info":[{"award-number":["22QA1410500"]}]},{"name":"Innovation Program for Quantum Science and Technology","award":["2019SHZDZX01"],"award-info":[{"award-number":["2019SHZDZX01"]}]},{"name":"Innovation Program for Quantum Science and Technology","award":["2021ZD0300304"],"award-info":[{"award-number":["2021ZD0300304"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Symmetry"],"abstract":"<jats:p>This study addresses the challenging issues in 3D point cloud feature matching within the field of computer vision, where high data quality requirements and vulnerability to disturbances significantly impact performance. Existing methods are prone to outliers when generating feature correspondences due to noise, sampling deviations, symmetric structure, and other factors. To improve the robustness of point cloud feature matching, this paper proposes a novel 3D spatial encoding (3DSE) method that incorporates compact geometric constraints. Our method encodes the spatial layout of matching feature points by quantifying the order of appearance of matching points, and combines rigidity constraints to iteratively eliminate the least consistent matching pairs with the remaining point pairs, thereby sorting the initial matching set. The 3DSE algorithm was evaluated on multiple datasets, including simulated data, self-collected data, and public datasets, which cover data from both LiDAR and Kinect sensors. The comparison results with existing techniques demonstrate that 3DSE exhibits superior performance and robustness in handling noise, sparse point clouds, and changes in data modalities. The application of the proposed method significantly enhances the point cloud registration process, showing promising potential for 3D reconstruction, model-driven 3D object recognition, and pose estimation of non-cooperative targets.<\/jats:p>","DOI":"10.3390\/sym17050640","type":"journal-article","created":{"date-parts":[[2025,4,24]],"date-time":"2025-04-24T04:04:50Z","timestamp":1745467490000},"page":"640","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["A Robust Feature-Matching Method for 3D Point Clouds via Spatial Encoding"],"prefix":"10.3390","volume":"17","author":[{"ORCID":"https:\/\/orcid.org\/0009-0001-1631-3090","authenticated-orcid":false,"given":"Han","family":"Wang","sequence":"first","affiliation":[{"name":"Key Laboratory of Space Active Opto-Electronics Technology, Shanghai Institute of Technical Physics, Chinese Academy of Sciences, Shanghai 200083, China"},{"name":"University of Chinese Academy of Sciences, Beijing 100049, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Fengxiang","family":"Wang","sequence":"additional","affiliation":[{"name":"Key Laboratory of Space Active Opto-Electronics Technology, Shanghai Institute of Technical Physics, Chinese Academy of Sciences, Shanghai 200083, China"},{"name":"College of Surveying and Geo-Informatics, Tongji University, Shanghai 200092, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ruikai","family":"Xue","sequence":"additional","affiliation":[{"name":"Key Laboratory of Space Active Opto-Electronics Technology, Shanghai Institute of Technical Physics, Chinese Academy of Sciences, Shanghai 200083, China"},{"name":"Shanghai Branch, Hefei National Laboratory, Shanghai 201315, China"},{"name":"Shanghai Research Center for Quantum Sciences, Shanghai 201315, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiaokai","family":"She","sequence":"additional","affiliation":[{"name":"Key Laboratory of Space Active Opto-Electronics Technology, Shanghai Institute of Technical Physics, Chinese Academy of Sciences, Shanghai 200083, China"},{"name":"University of Chinese Academy of Sciences, Beijing 100049, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5360-521X","authenticated-orcid":false,"given":"Wei","family":"Kong","sequence":"additional","affiliation":[{"name":"Key Laboratory of Space Active Opto-Electronics Technology, Shanghai Institute of Technical Physics, Chinese Academy of Sciences, Shanghai 200083, China"},{"name":"University of Chinese Academy of Sciences, Beijing 100049, China"},{"name":"Shanghai Branch, Hefei National Laboratory, Shanghai 201315, China"},{"name":"Shanghai Research Center for Quantum Sciences, Shanghai 201315, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Genghua","family":"Huang","sequence":"additional","affiliation":[{"name":"Key Laboratory of Space Active Opto-Electronics Technology, Shanghai Institute of Technical Physics, Chinese Academy of Sciences, Shanghai 200083, China"},{"name":"University of Chinese Academy of Sciences, Beijing 100049, China"},{"name":"Shanghai Branch, Hefei National Laboratory, Shanghai 201315, China"},{"name":"Shanghai Research Center for Quantum Sciences, Shanghai 201315, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2025,4,24]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"0210003","DOI":"10.3788\/AOS201838.0210003","article-title":"Removal Method of Mismatching Keypoints in 3D Point Cloud","volume":"38","author":"Fengguang","year":"2018","journal-title":"Acta Opt. Sin."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"196","DOI":"10.1016\/j.ins.2014.09.015","article-title":"A novel local surface feature for 3D object recognition under clutter and occlusion","volume":"293","author":"Guo","year":"2015","journal-title":"Inf. Sci."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"569","DOI":"10.1016\/j.actaastro.2020.11.013","article-title":"Pose estimation of a non-cooperative spacecraft without the detection and recognition of point cloud features","volume":"179","author":"Kang","year":"2021","journal-title":"Acta Astronaut."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"113693","DOI":"10.1016\/j.measurement.2023.113693","article-title":"Neighbor feature variance (NFV) based feature point selection method for three dimensional (3D) registration of space target","volume":"222","author":"Zhou","year":"2023","journal-title":"Measurement"},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"3314","DOI":"10.1049\/iet-ipr.2019.1087","article-title":"Automatic 3D point cloud registration algorithm based on triangle similarity ratio consistency","volume":"14","author":"Zou","year":"2020","journal-title":"IET Image Process."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"5097","DOI":"10.3233\/JIFS-179995","article-title":"Multi-resolution 3D reconstruction of cultural landscape heritage based on cloud computing and hd image data","volume":"39","author":"Zhang","year":"2020","journal-title":"J. Intell. Fuzzy Syst."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"2431","DOI":"10.1166\/asl.2011.1596","article-title":"Automatic Registration of 3D Point Clouds for Reverse Engineering","volume":"4","author":"Imbert","year":"2011","journal-title":"Adv. Sci. Lett."},{"key":"ref_8","doi-asserted-by":"crossref","unstructured":"Cao, H., Chen, D., Zheng, Z., Zhang, Y., Zhou, H., and Ju, J. (2023). Fast Point Cloud Registration Method with Incorporation of RGB Image Information. Appl. Sci., 13.","DOI":"10.3390\/app13085161"},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"8451","DOI":"10.1109\/LRA.2024.3445661","article-title":"Multi-View Registration of Partially Overlapping Point Clouds for Robotic Manipulation","volume":"9","author":"Xie","year":"2024","journal-title":"IEEE Robot. Autom. Lett."},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"2254","DOI":"10.1109\/JSTARS.2022.3151699","article-title":"A Novel 3-D Local DAISY-Style Descriptor to Reduce the Effect of Point Displacement Error in Point Cloud Registration","volume":"15","author":"Ghorbani","year":"2022","journal-title":"IEEE J. Sel. Top. Appl. Earth Observ. Remote Sens."},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"239","DOI":"10.1109\/34.121791","article-title":"A method for registration of 3-D shapes","volume":"14","author":"Besl","year":"1992","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"145","DOI":"10.1016\/0262-8856(92)90066-C","article-title":"Object Modeling by Registration of Multiple Range Images","volume":"10","author":"Chen","year":"1992","journal-title":"Image Vis. Comput."},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"766","DOI":"10.1007\/978-3-319-46475-6_47","article-title":"Fast Global Registration","volume":"Volume 9906","author":"Zhou","year":"2016","journal-title":"Computer Vision\u2014ECCV 2016. ECCV 2016"},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"3840","DOI":"10.1109\/TVCG.2022.3170695","article-title":"Rank-PointRetrieval: Reranking Point Cloud Retrieval via a Visually Consistent Registration Evaluation","volume":"29","author":"Zhang","year":"2023","journal-title":"IEEE Trans. Vis. Comput. Graph."},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"433","DOI":"10.1109\/34.765655","article-title":"Using spin images for efficient object recognition in cluttered 3D scenes","volume":"21","author":"Johnson","year":"1999","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"224","DOI":"10.1007\/978-3-540-24672-5_18","article-title":"Recognizing objects in range data using regional point descriptors","volume":"Volume 3023","author":"Frome","year":"2004","journal-title":"Computer Vision\u2014ECCV 2004. ECCV 2004"},{"key":"ref_17","doi-asserted-by":"crossref","unstructured":"Rusu, R.B., Blodow, N., and Beetz, M. (2009, January 12\u201317). Fast Point Feature Histograms (FPFH) for 3D Registration. Proceedings of the IEEE International Conference on Robotics and Automation, Kobe, Japan.","DOI":"10.1109\/ROBOT.2009.5152473"},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"175","DOI":"10.1016\/j.patcog.2016.11.019","article-title":"TOLDI: An effective and robust approach for 3D local shape description","volume":"65","author":"Yang","year":"2017","journal-title":"Pattern Recognit."},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"240","DOI":"10.1016\/j.isprsjprs.2013.02.019","article-title":"Towards 3D lidar point cloud registration improvement using optimal neighborhood knowledge","volume":"79","author":"Gressin","year":"2013","journal-title":"ISPRS-J. Photogramm. Remote Sens."},{"key":"ref_20","first-page":"3979","article-title":"Learning General and Distinctive 3D Local Deep Descriptors for Point Cloud Registration","volume":"45","author":"Poiesi","year":"2023","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"ref_21","doi-asserted-by":"crossref","unstructured":"Ao, S., Hu, Q., Yang, B., Markham, A., and Guo, Y. (2021, January 20\u201325). SpinNet: Learning a General Surface Descriptor for 3D Point Cloud Registration. Proceedings of the 2021 IEEE\/CVF Conference on Computer Vision and Pattern Recognition (CVPR), Nashville, TN, USA.","DOI":"10.1109\/CVPR46437.2021.01158"},{"key":"ref_22","first-page":"3949","article-title":"You Only Train Once: Learning General and Distinctive 3D Local Descriptors","volume":"45","author":"Ao","year":"2023","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"57943","DOI":"10.1007\/s11042-023-15961-2","article-title":"AudioGuard: Speech Recognition System Robust against Optimized Audio Adversarial Examples","volume":"83","author":"Kwon","year":"2023","journal-title":"Multimed Tools Appl."},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"66","DOI":"10.1007\/s11263-015-0824-y","article-title":"A Comprehensive Performance Evaluation of 3D Local Feature Descriptors","volume":"116","author":"Guo","year":"2016","journal-title":"Int. J. Comput. Vis."},{"key":"ref_25","doi-asserted-by":"crossref","unstructured":"Yang, J., Xian, K., Xiao, Y., and Cao, Z. (2017, January 10\u201312). Performance Evaluation of 3D Correspondence Grouping Algorithms. Proceedings of the 2017 International Conference on 3D Vision (3DV), Qingdao, China.","DOI":"10.1109\/3DV.2017.00060"},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"5018814","DOI":"10.1109\/TIM.2021.3123426","article-title":"A Comprehensive Performance Evaluation of 3-D Transformation Estimation Techniques in Point Cloud Registration","volume":"70","author":"Zhao","year":"2021","journal-title":"IEEE Trans. Instrum. Meas."},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"3766","DOI":"10.1109\/TIP.2018.2827330","article-title":"Toward the Repeatability and Robustness of the Local Reference Frame for 3D Shape Matching: An Evaluation","volume":"27","author":"Yang","year":"2018","journal-title":"IEEE Trans. Image Process."},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"71","DOI":"10.1007\/s00371-017-1453-y","article-title":"3D object recognition using scale-invariant features","volume":"35","author":"Lim","year":"2019","journal-title":"Vis. Comput."},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"2270","DOI":"10.1109\/TPAMI.2014.2316828","article-title":"3D Object Recognition in Cluttered Scenes with Local Surface Features: A Survey","volume":"36","author":"Guo","year":"2014","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"ref_30","doi-asserted-by":"crossref","first-page":"163","DOI":"10.1016\/j.ins.2016.01.095","article-title":"A fast and robust local descriptor for 3D point cloud registration","volume":"346","author":"Yang","year":"2016","journal-title":"Inf. Sci."},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"1377","DOI":"10.1109\/TMM.2014.2316145","article-title":"An Accurate and Robust Range Image Registration Algorithm for 3D Object Modeling","volume":"16","author":"Guo","year":"2014","journal-title":"IEEE Trans. Multimed."},{"key":"ref_32","doi-asserted-by":"crossref","first-page":"91","DOI":"10.1023\/B:VISI.0000029664.99615.94","article-title":"Distinctive image features from scale-invariant keypoints","volume":"60","author":"Lowe","year":"2004","journal-title":"Int. J. Comput. Vis."},{"key":"ref_33","doi-asserted-by":"crossref","first-page":"1615","DOI":"10.1109\/TPAMI.2005.188","article-title":"A performance evaluation of local descriptors","volume":"27","author":"Mikolajczyk","year":"2005","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"ref_34","doi-asserted-by":"crossref","first-page":"381","DOI":"10.1145\/358669.358692","article-title":"Random Sample Consensus\u2014A Paradigm for Model-Fitting with Applications to Image-Analysis and Automated Cartography","volume":"24","author":"Fischler","year":"1981","journal-title":"Commun. ACM"},{"key":"ref_35","doi-asserted-by":"crossref","first-page":"681","DOI":"10.1016\/j.cviu.2010.11.021","article-title":"Local shape descriptor selection for object recognition in range data","volume":"115","author":"Taati","year":"2011","journal-title":"Comput. Vis. Image Underst."},{"key":"ref_36","first-page":"135","article-title":"An Efficient RANSAC for 3D Object Recognition in Noisy and Occluded Scenes","volume":"Volume 6492","author":"Papazov","year":"2010","journal-title":"Computer Vision\u2014ACCV 2010, Proceedings of the 10th Asian Conference on Computer Vision, Queenstown, New Zealand, 8\u201312 November 2010"},{"key":"ref_37","doi-asserted-by":"crossref","first-page":"1252","DOI":"10.1016\/j.patrec.2007.02.009","article-title":"3D free-form object recognition in range images using local surface patches","volume":"28","author":"Chen","year":"2007","journal-title":"Pattern Recognit. Lett."},{"key":"ref_38","doi-asserted-by":"crossref","first-page":"1584","DOI":"10.1109\/TPAMI.2006.213","article-title":"Three-dimensional model-based object recognition and segmentation in cluttered scenes","volume":"28","author":"Mian","year":"2006","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"ref_39","doi-asserted-by":"crossref","first-page":"83","DOI":"10.1109\/34.655652","article-title":"Registration and integration of multiple object views for 3D model construction","volume":"20","author":"Dorai","year":"1998","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"ref_40","doi-asserted-by":"crossref","first-page":"635","DOI":"10.1016\/S0262-8856(98)00074-2","article-title":"Surface matching for object recognition in complex three-dimensional scenes","volume":"16","author":"Johnson","year":"1998","journal-title":"Image Vis. Comput."},{"key":"ref_41","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1016\/j.patrec.2018.11.018","article-title":"Ranking 3D feature correspondences via consistency voting","volume":"117","author":"Yang","year":"2019","journal-title":"Pattern Recognit. Lett."},{"key":"ref_42","doi-asserted-by":"crossref","unstructured":"Quan, S., Yin, K., Ye, K., and Nan, K. (2022). Robust Feature Matching for 3D Point Clouds with Progressive Consistency Voting. Sensors, 22.","DOI":"10.3390\/s22207718"},{"key":"ref_43","doi-asserted-by":"crossref","unstructured":"Zhong, Y. (October, January 27). Intrinsic shape signatures: A shape descriptor for 3D object recognition. Proceedings of the 2009 IEEE 12th International Conference on Computer Vision Workshops, ICCV Workshops, Kyoto, Japan.","DOI":"10.1109\/ICCVW.2009.5457637"},{"key":"ref_44","doi-asserted-by":"crossref","first-page":"348","DOI":"10.1007\/s11263-009-0296-z","article-title":"On the Repeatability and Quality of Keypoints for Local Feature-based 3D Object Retrieval from Cluttered Scenes","volume":"89","author":"Mian","year":"2010","journal-title":"Int. J. Comput. Vis."},{"key":"ref_45","doi-asserted-by":"crossref","unstructured":"Drost, B., Ulrich, M., Navab, N., and Ilic, S. (2010, January 13\u201318). Model Globally, Match Locally: Efficient and Robust 3D Object Recognition. Proceedings of the 2010 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, San Francisco, CA, USA.","DOI":"10.1109\/CVPR.2010.5540108"},{"key":"ref_46","doi-asserted-by":"crossref","first-page":"63","DOI":"10.1007\/s11263-013-0627-y","article-title":"Rotational Projection Statistics for 3D Local Surface Description and Object Recognition","volume":"105","author":"Guo","year":"2013","journal-title":"Int. J. Comput. Vis."},{"key":"ref_47","doi-asserted-by":"crossref","unstructured":"Guo, Y., Bennamoun, M., Sohel, F.A., Wan, J., and Lu, M. (2013, January 15\u201317). 3D Free Form Object Recognition using Rotational Projection Statistics. Proceedings of the 2013 IEEE Workshop on Applications of Computer Vision (WACV), Clearwater Beach, FL, USA.","DOI":"10.1109\/WACV.2013.6474992"},{"key":"ref_48","unstructured":"Guo, Y., Sohel, F., Bennamoun, M., Lu, M., and Wan, J. (2013, January 21\u201324). TriSI: A distinctive local surface descriptor for 3D modeling and object recognition. Proceedings of the International Conference on Computer Graphics Theory and Applications, Barcelona, Spain."},{"key":"ref_49","doi-asserted-by":"crossref","unstructured":"Bariya, P., and Nishino, K. (2010, January 13\u201318). Scale-Hierarchical 3D Object Recognition in Cluttered Scenes. Proceedings of the 2010 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, San Francisco, CA, USA.","DOI":"10.1109\/CVPR.2010.5539774"},{"key":"ref_50","doi-asserted-by":"crossref","first-page":"232","DOI":"10.1007\/s11263-012-0526-7","article-title":"3D Geometric Scale Variability in Range Images: Features and Descriptors","volume":"99","author":"Bariya","year":"2012","journal-title":"Int. J. Comput. Vis."},{"key":"ref_51","doi-asserted-by":"crossref","unstructured":"Albarelli, A., Rodola, E., and Torsello, A. (2010, January 13\u201318). A Game-Theoretic Approach to Fine Surface Registration without Initial Motion Estimation. Proceedings of the 2010 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, San Francisco, CA, USA.","DOI":"10.1109\/CVPR.2010.5540183"},{"key":"ref_52","doi-asserted-by":"crossref","first-page":"129","DOI":"10.1007\/s11263-012-0568-x","article-title":"A Scale Independent Selection Process for 3D Object Recognition in Cluttered Scenes","volume":"102","author":"Rodola","year":"2013","journal-title":"Int. J. Comput. Vis."},{"key":"ref_53","doi-asserted-by":"crossref","unstructured":"Ashbrook, A., Fisher, R.B., Robertson, C., and Werghi, N. (1998). Finding surface correspondence for object recognition and registration using pairwise geometric histograms. Computer Vision\u2014ECCV\u201998, Proceedings of the 5th European Conference on Computer Vision, Freiburg, Germany, 2\u20136 June 1998, Proceedings, Volume II, Springer.","DOI":"10.1007\/BFb0054772"},{"key":"ref_54","first-page":"589","article-title":"Hough Transform and 3D SURF for Robust Three Dimensional Classification","volume":"Volume 6316","author":"Knopp","year":"2010","journal-title":"Computer Vision\u2014ECCV 2010, Proceedings of the 11th European Conference on Computer Vision, Heraklion, Crete, Greece, 5\u201311 September 2010, Proceedings, Part VI"},{"key":"ref_55","doi-asserted-by":"crossref","unstructured":"Tombari, F., and Di Stefano, L. (2010, January 14\u201317). Object recognition in 3D scenes with occlusions and clutter by hough voting. Proceedings of the 2010 4th Pacific-Rim Symposium on Image and Video Technology, Singapore.","DOI":"10.1109\/PSIVT.2010.65"},{"key":"ref_56","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1145\/2422956.2422960","article-title":"SIFT Match Verification by Geometric Coding for Large-Scale Partial-Duplicate Web Image Search","volume":"9","author":"Zhou","year":"2013","journal-title":"ACM Trans. Multimed. Comput. Commun. Appl."},{"key":"ref_57","doi-asserted-by":"crossref","first-page":"251","DOI":"10.1016\/j.cviu.2014.04.011","article-title":"SHOT: Unique signatures of histograms for surface and texture description","volume":"125","author":"Salti","year":"2014","journal-title":"Comput. Vis. Image Underst."}],"container-title":["Symmetry"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2073-8994\/17\/5\/640\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,9]],"date-time":"2025-10-09T17:20:32Z","timestamp":1760030432000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2073-8994\/17\/5\/640"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,4,24]]},"references-count":57,"journal-issue":{"issue":"5","published-online":{"date-parts":[[2025,5]]}},"alternative-id":["sym17050640"],"URL":"https:\/\/doi.org\/10.3390\/sym17050640","relation":{},"ISSN":["2073-8994"],"issn-type":[{"value":"2073-8994","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,4,24]]}}}