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Harris 3D: ããã¯Harrisã³ãŒããŒæ€åºåšã®3次å ããŒãžã§ã³ã§ã3D空éå ã®ãã€ã³ãã¯ã©ãŠãããŒã¿ã§ããŒãã€ã³ããèå¥ããŸãããããã®ç¹ã¯å±æçãªåœ¢ç¶ã®å€åã倧ããå Žæãè¡šããŠããŸãã
3DããŒã¿ã®éãå¢å ãããã£ããã£ããã€ã¹ãäœã³ã¹ãã®ãã«ãã¡ãã£ã¢ããŒã¿ãäœæã§ããããã«ãªã£ããããé¢é£ããæ å ±ãéžæããæ©èœãèå³æ·±ãç 究åéãšãªã£ãŠããã3Dãªããžã§ã¯ãã§ã¯ããªããžã§ã¯ãå šäœã®ä»£ããã«ããªããžã§ã¯ãã®ç»é²ãæ€çŽ¢ãã¡ãã·ã¥ã®ç°¡ç¥åãªã©ã®ã¢ããªã±ãŒã·ã§ã³ã«äœ¿çšã§ãããããã€ãã®é¡èãªæ§é ãæ€åºããããšãç®çã§ãããæ¬è«æã§ã¯ãã³ã³ãã¥ãŒã¿ããžã§ã³ã®ã¢ããªã±ãŒã·ã§ã³ã§è¯å¥œãªçµæãåŸãŠããããªã¹æŒç®åã«åºã¥ãã3Dãªããžã§ã¯ãã®æ³šç®ç¹æ€åºåšã玹ä»ãããæã ã¯ãé ç¹ã®è¿åã決å®ãããã®é ç¹ã«å¯Ÿããããªã¹å¿çãèšç®ããé©å¿çææ³ãææ¡ãããæã ã®ææ³ã¯ããã€ãã®å€æã«å¯ŸããŠããã¹ãã§ãããããã¯SHRECç¹åŸŽæ€åºã»èšè¿°ãã³ãããŒã¯ãçšããŠåŸãããé«ãåçŸæ§å€ãããåãããããã«ãHarris 3DããHeat Kernel Signaturesã®ãããªæè¿ã®å¹æçãªææ³ã§åŸãããçµæãäžåãããšã瀺ãã
Intrinsic Shape Signature (ISS): ISSã¯3D圢ç¶ã®å±æçãªç¹åŸŽç¹ãæ€åºããææ³ã§ãã圢ç¶ã®å åšçãªå¹ŸäœåŠçæ§è³ªã«åºã¥ããŠããŒãã€ã³ããèå¥ããŸãã
æ¬çš¿ã§ã¯ã3次å ç¹çŸ€ãšããŠè¡šçŸããã3次å ç©äœãèªèããããã®æ°ããã¢ãããŒããææ¡ãããç¹çŸ€ã®å±æçïŒåå±æçé åãç¹åŸŽä»ããããã«ãåºæ圢ç¶ã·ã°ããã£ïŒIntrinsic Shape Signature: ISSïŒãšåŒã°ããæ°ãã3次å 圢ç¶èšè¿°åãå°å ¥ãããåºæ圢ç¶ã·ã°ããã£ã¯ãç°ãªããã¥ãŒããã®åœ¢ç¶ããããçŽæ¥ãããã³ã°ããããã«ã3D圢ç¶ã®ãã¥ãŒéäŸåè¡šçŸã䜿çšããé«éãªå§¿å¢æšå®ã容æã«ããããã«ããã¥ãŒåœ¢ç¶ããšã³ã³ãŒããããã¥ãŒäŸåå€æã䜿çšãããããã«ãé«æ¬¡å ã®ISS圢ç¶èšè¿°åã«å¯Ÿããéåžžã«å¹ççãªã€ã³ããã¯ã¹ä»ãã¹ããŒã ãæ瀺ãã倧èŠæš¡ãªã¢ãã«ããŒã¿ããŒã¹ã®é«éãã€æ£ç¢ºãªæ€çŽ¢ãå¯èœã«ãããææ¡ã¢ã«ãŽãªãºã ã®æ§èœããã»ã³ãµãã€ãºãäžæçããã·ãŒã³ã®ä¹±éããååšããäžã§ã72ã®ã¢ãã«ããŒã¿ããŒã¹ãçšããŠç°ãªãè»çš®ãèªèãããšããéåžžã«å°é£ãªã¿ã¹ã¯ã§è©äŸ¡ããã
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3D Shape Histogram: 3D圢ç¶ã®å€§åçç¹åŸŽãæããææ³ã§ã圢ç¶ã®ããªã¥ãŒã ãæ Œåç¶ã«åå²ããåãã³å ã®ç¹ã®æ°ã§ãã¹ãã°ã©ã ãäœæããŸãã
Spherical Harmonics Representation: çé¢èª¿åé¢æ°ãçšããŠ3D圢ç¶ãè¡šçŸããæ¹æ³ãããã¯åœ¢ç¶ã®å€§åçç¹åŸŽãäœæ¬¡å ã§å¹ççã«æããŸãã
LightField Descriptor (LFD): 3Dãªããžã§ã¯ãã®èŠèŠçãªå€èŠ³ãèšè¿°ããããã«äœ¿çšããããªããžã§ã¯ããæ§ã ãªæ¹åããèŠããšãã®å€èŠ³ã®å·®ç°ãæããŸãã
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Spin Image: 3Dãã€ã³ãã¯ã©ãŠãã®å±æçãªç¹åŸŽãèšè¿°ããããã«çšããããææ³ãããç¹ã®åšãã®ç¹ã®çžå¯Ÿçãªäœçœ®ã2Dã€ã¡ãŒãžã«å€æããŸãã
SHOT (Signature of Histograms of OrienTations): 3Dãã€ã³ãã¯ã©ãŠãã®å±æçãªåœ¢ç¶ã®ç¹åŸŽãæããæ¹æ³ãç¹ã®è¿åã®åœ¢ç¶æ å ±ããã¹ãã°ã©ã ã«ãšã³ã³ãŒãããŸãã
Fast Point Feature Histograms (FPFH): å±æçãªå¹ŸäœåŠçç¹åŸŽãè¿ éã«èšè¿°ããæ¹æ³ã§ãç¹ã®å±æçãªæ²çãè¡šé¢ã®æ¹åæ§ãæãããã¹ãã°ã©ã ãäœæããŸãã
Point Feature Histograms (PFH): Fast Point Feature Histograms (FPFH) ã®åºã«ãªã£ãããã詳现ã§èšç®ã³ã¹ããé«ãå±æç¹åŸŽéè¡šçŸã§ããå±æçãªå¹ŸäœåŠçç¹åŸŽãæããã®ã«çšããŸãã
3D SURF (Speeded Up Robust Features): 2Dç»ååŠçã§ãã䜿ãããSURFã¢ã«ãŽãªãºã ã®3DããŒãžã§ã³ã§ããå±æçãªç¹åŸŽç¹ã®æœåºãšèšè¿°ã«äœ¿ãããŸãã
3D SIFT (Scale Invariant Feature Transform): åæ§ã«ã2Dã®SIFTã¢ã«ãŽãªãºã ã®3Dæ¡åŒµçã§ãã¹ã±ãŒã«äžå€ã®ç¹åŸŽç¹ãæ€åºããã®ã«äœ¿çšãããŸãã
Mesh Processing: 3Dãã€ã³ãã¯ã©ãŠãããŒã¿ããã©ã€ã¢ã³ã°ã«ã¡ãã·ã¥ã«å€æããŠåŠçããææ³ãã¡ãã·ã¥çæãæé©åãå¹³æ»åãªã©ãå«ãŸããŸãã
Voxel Grid Representation: 3DããŒã¿ããã¯ã»ã«ïŒ3次å ãã¯ã»ã«ïŒã«å€æããŠåŠçããææ³ãããŒã¿éãæžãããèšç®ãå¹çåããŸãã
Deep Learning-Based Methods: è¿å¹Žã深局åŠç¿ã掻çšãã3DããŒã¿è§£æææ³ãéçºãããŠããŸããããã«ã¯3D Convolutional Neural Networks (CNN) ã PointNet ãªã©ããããŸãã
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