A survey and technology trends of 3D features for object recognition

Recently, various kinds of 3D imaging devices such as laser range finder or time-of-flight sensor become popular, so a lot of practical algorithms for recognizing 3D objects using "point cloud data" have been proposed. In this paper, we will introduce typical object recognition approaches and survey various kinds of 3D features proposed by many researchers. As for some important techniques, their principle and characteristics are explained in detail. Also we will mention about the LRF (Local Reference Frame) which is very important factor to realize stable feature description and accurate pose estimation in practical use.