DPN-LRF: A Local Reference Frame for Robustly Handling Density Differences and Partial Occlusions

Abstract

For the purpose of 3D keypoint matching, a Local Reference Frame (LRF), a local coordinate system of the keypoint, is one important information source for achieving repeatable feature descriptions and accurate pose estimations. We propose a robust LRF for two main point cloud disturbances: density differences and partial occlusions. To generate LRFs that are robust to such disturbances, we employ two strategies: normalizing the effects of point cloud density by approximating the surface area in the local region and using the dominant orientation of a normal vector around the keypoint. Experiments confirm that the proposed method has higher repeatability than state-of-the-art methods with respect to density differences and partial occlusions. It was also confirmed that the method enhances the reliability of keypoint matching.