Recognition of 3D objects from unconstrained 2D images by using local appearance and affine geometry

This paper introduces a novel method, which utilizes local appearance descriptions in a more efficient way, for 3D object recognition. Geometrically consistent local features are identified using affine 3D and 2D geometric invariants, without any reliance on partial or global planarity. Geometric invariants replace the traditional, highly constrained 2D affine transform estimation/verification step, and provides the ability to directly verify 3D geometric consistency. The accuracy and robustness of the method in highly cluttered scenes are presented in the experiments.