Surface matching

We are increasingly interacting with devices that can capture the 3D structure of the objects around us. These devices essentially capture depth information, along with the regular 2D color images. So, it's important for us to build algorithms that can understand and process 3D objects.

Kinect is a good example of a device that captures depth information along with the visual data. The task at hand is to recognize the input 3D object, by matching it to one of the models in our database. If we have a system that can recognize and locate objects, then it can be used for many different applications.

There is a module called surface_matching that contains algorithms for 3D object recognition and a pose estimation algorithm using 3D features.