Efficient MSPSO Sampling for Object Detection and 6D Pose Estimation in 3D Scenes

The point pair feature (PPF) is widely used in industrial applications for estimating 6D poses of known objects from unrecognized point clouds. The key to the success of PPF matching is to establish correct 3D correspondences between the object and the scene, i.e., finding as many valid similar point pairs as possible. Thus, a set of...