Classification of 3D objects with curved surfaces based on cross-entropy between shape histograms

A cross-entropy method for the classification of 3D objects with curved surfaces is proposed. In the proposed approach, small cross-entropy between the shape histograms of two objects indicates that the two objects are similar, where the shape histogram is defined as the distribution of the shape indices computed at pixels on the object. Experiments with real range images show that the cross-entropy method can be used to classify 3D objects with curved surfaces.