J Schöning, G Heidemann, in *Proc. of the 11th Joint Conf. on Computer Vision, Imaging and Computer Graphics Theory and Applications*, (2016), pp. 192–197. doi:10.5220/0005784801920197.

S Tang, A Godil, in *Proc. SPIE, vol. 8290*, 8290, (2012), pp. 82,900N–82,900N–15. doi:10.1117/12.912153.

JWH Tangelder, RC Veltkamp, Multimedia tools and applications. **39**(3), 441 (2007). doi:10.1007/s11042-007-0181-0.

IK Kazmi, L You, JJ Zhang, in *Computer Graphics, Imaging and Visualization (CGIV), 2013 10th Int. Conf*, (2013), pp. 1–10. doi:10.1109/CGIV.2013.11.

C Singh, Pooja, Optics and lasers in engineering. **50**(5), 655 (2012). doi:10.1016/j.optlaseng.2011.11.012.

CH Wei, Y Li, WY Chau, CT Li. Pattern Recogn. **42**(3), 386 (2009). doi:doi:10.1016/j.patcog.2008.08.019.

Article
Google Scholar

M Yang, K Kpalma, J Ronsin, in *Pattern Recognition*, ed. by P-Y Yin. A Survey of Shape Feature Extraction Techniques (IN-TECH, 2008), pp. 43–90. https://hal.archives-ouvertes.fr/hal-00446037.

AM Bronstein, MM Bronstein, R Kimmel, Generalized multidimensional scaling: a framework for isometry-invariant partial surface matching. Proc. Natl. Acad. Sci. **103**(5) (1168).

Q-X Huang, B Adams, M Wicke, LJ Guibas, Non-Rigid Registration Under Isometric Deformations. Comput. Graph. Forum. **27**(5), 1449–1457 (2008). doi:http://dx.doi.org/10.1111/j.1467-8659.2008.01285.x.

Article
Google Scholar

Y Sahillioğlu, Y Yemez, Computer Graphics Forum (2013). doi:10.1111/cgf.12007.

M Ovsjanikov, Q Mérigot, V Pătrăucean, L Guibas, in *Proc. of the Eleventh Eurographics/ACMSIGGRAPH Symp. on Geometry Processing, SGP ’13* (Eurographics AssociationAire-la-Ville, 2013), pp. 1–11. doi:10.1111/cgf.12167.

S Biasotti, B Falcidieno, D Giorgi, M Spagnuolo, *Mathematical Tools for Shape Analysis and Description* (Morgan & Claypool, 2014). doi:10.2200/S00588ED1V01Y201407CGR016.

L Zhang, MJ da Fonseca, A Ferreira, Survey on 3D shape descriptors. Tech. rep., Technical Report, DecorAR (FCT POSC/EIA/59938/2004) (2007).

AM Bronstein, MM Bronstein, R Kimmel, SIAM J. Sci. Comput. **28**(5) (2006). doi:10.1137/050639296.

AM Bronstein, MM Bronstein, R Kimmel, M Mahmoudi, G Sapiro. Int. J. Comput. Vision. **89**(2), 266 (2010). doi:10.1007/s11263-009-0301-6.

Article
Google Scholar

H Tabia, H Laga, D Picard, PH Gosselin, in *IEEE Conf. on Computer Vision and Pattern Recognition*, (2014), pp. 4185–4192. doi:10.1109/CVPR.2014.533.

Y Fang, M Sun, K Ramani, in *CVPR Workshops*, (2011), pp. 9–16. doi:10.1109/CVPRW.2011.5981684.

Y Fang, M Sun, M Kim, K Ramani, in *Computer Vision and Pattern Recognition (CVPR), IEEE Conf. on*, (2011), pp. 2145–2152. doi:10.1109/CVPR.2011.5995695.

JWH Tangelder, RC Veltkamp, in *Shape Modeling Applications.Proc*, (2004), pp. 145–156. doi:10.1109/SMI.2004.1314502.

CB Akgül, B Sankur, Y Yemez, F Schmitt. IEEE Trans. Pattern Anal. Mach. Intell. **31**(6) (2009). doi:10.1109/TPAMI.2009.25.

R Osada, T Funkhouser, B Chazelle, D Dobkin. ACM Trans. Graph. **21**(4), 807 (2002). doi:10.1145/571647.571648.

Article
Google Scholar

M Ankerst, G Kastenmüller, HP Kriegel, T Seidl, *3D Shape Histograms for Similarity Search and Classification in Spatial Databases* (Springer Berlin Heidelberg, Berlin, Heidelberg, 1999). doi:10.1007/3-540-48482-5_14.

Book
Google Scholar

DV Vranic, D Saupe, in *Proceedings of the EURASIP Conference on Digital Signal Processing for Multimedia Communications and Services (ECMCS 2001)*, ed. by K Fazekas. 3D Shape Descriptor Based on 3D Fourier Transform (Budapest, 2001), pp. 271–274.

D Saupe, DV Vranic, in *Proc. of the 23rd DAGM-Symp. on Pattern Recognition* (Springer-VerlagLondon, 2001), pp. 392–397.

J Sivic, A Zisserman, in *Computer Vision, 2003. Proceedings. Ninth IEEE Int. Conf. on*, (2003), pp. 1470–1477 vol. 2. doi:10.1109/ICCV.2003.1238663.

AM Bronstein, MM Bronstein, M Ovsjanikov, *Feature-Based Methods in 3D Shape Analysis* (Springer London, London, 2012). doi:10.1007/978-1-4471-4063-4_5.

Book
Google Scholar

M Körtgen, GJ Park, M Novotni, R Klein, in *The 7th Central European Seminar on Computer Graphics*, (2003).

A Johnson, *Spin-Images: A Representation for 3-D Surface Matching*, (Pittsburgh, 1997).

M Hilaga, Y Shinagawa, T Kohmura, TL Kunii, in *Proc. of the 28th Annual Conf. on Computer Graphics and Interactive Techniques*. SIGGRAPH ’01 (ACMNew York, 2001), pp. 203–212. doi:10.1145/383259.383282.

Google Scholar

A Brennecke, T Isenberg, in *Simulation and Visualization*, (2004), pp. 299–310.

D-Y Chen, X-P Tian, Y-T Shen, M Ouhyoung, On Visual Similarity Based 3D Model Retrieval. Comput. Graph. Forum. **22**(3), 223–232 (2003). doi:http://dx.doi.org/10.1111/1467-8659.00669.

Article
Google Scholar

R Ohbuchi, K Osada, T Furuya, T Banno, in *Shape Modeling and Applications. IEEE Int. Conf. on*, (2008), pp. 93–102. doi:10.1109/SMI.2008.4547955.

H Sánchez-Cruz, E Bribiesca. Image Vis. Comput. **21**(12), 1027 (2003). doi:doi:10.1016/S0262-8856(03)00119-7.

Article
Google Scholar

M Novotni, R Klein, in *Proceedings International Conference on Shape Modeling and Applications*. A geometric approach to 3D object comparison (IEEE Computer SocietyWashington, 2001), pp. 167–175. doi:10.1109/SMA.2001.923387.

Chapter
Google Scholar

R Basri, L Costa, D Geiger, D Jacobs, in *Physics-Based Modeling in Computer Vision, Proc. of the Workshop on*, (1995), p. 135, doi:10.1109/PBMCV.1995.514678.

I Cohen, N Ayache, P Sulger, *Tracking points on deformable objects using curvature information* (Springer Berlin Heidelberg, Berlin, Heidelberg, 1992). doi:10.1007/3-540-55426-2_51.

Book
Google Scholar

TK Dey, J Giesen, S Goswami, in *Algorithms and Data Structures: 8th Int. Workshop, WADS 2003, Ottawa, Ontario, Canada, July 30 - August 1, 2003*, ed. by F Dehne, JR Sack, and M Smid (Springer Berlin HeidelbergBerlin, Heidelberg, 2003), pp. 25–36. doi:10.1007/978-3-540-45078-8_3.

JWH Tangelder, RC Veltkamp, in *Shape Modeling International, 2003*, (2003), pp. 119–129. doi:10.1109/SMI.2003.1199608.

DG Lowe. Int. J. Comput. Vision. **60**(2), 91 (2004). doi:10.1023/B:VISI.0000029664.99615.94.

Article
Google Scholar

D Macrini, A Shokoufandeh, S Dickinson, K Siddiqi, S Zucker, in *Object recognition supported by user interaction for service robots*, 3. View-based 3-D object recognition using shock graphs (IEEE, 2002), pp. 24–28. doi:10.1109/ICPR.2002.1047786.

CM Cyr, BB Kimia. Int. J. Comput. Vision. **57**(1), 5 (2004). doi:10.1023/B:VISI.0000013088.59081.4c.

Article
Google Scholar

D Terzopoulos, D Metaxas. IEEE Trans. Pattern Anal. Mach. Intell. **13**(7), 703 (1991). doi:10.1109/34.85659.

Article
Google Scholar

D DeCarlo, D Metaxas. IEEE Trans. Pattern Anal. Mach. Intell. **20**(11) (1186). doi:10.1109/34.730554.

J Sun, M Ovsjanikov, L Guibas, in *Proceedings of the Symposium on Geometry Processing*. A Concise and Provably Informative Multi-scale Signature Based on Heat Diffusion (Eurographics AssociationAire-la-Ville, 2009), pp. 1383–1392. http://dl.acm.org/citation.cfm?id=1735603.1735621.

Google Scholar

M Aubry, U Schlickewei, D Cremers, in *Computer Vision Workshops (ICCV Workshops), IEEE Int. Conf. on*, (2011), pp. 1626–1633. doi:10.1109/ICCVW.2011.6130444.

V Jain, H Zhang. Comput. Aided Des. **39**(5), 398 (2007). doi:10.1016/j.cad.2007.02.009.

Article
Google Scholar

Y Fang, J Xie, G Dai, M Wang, F Zhu, T Xu, E Wong, in *2015 IEEE Conference on Computer Vision and Pattern Recognition (CVPR)*. 3D deep shape descriptor, (2015), pp. 2319–2328. doi:10.1109/CVPR.2015.7298845.

VK Ghorpade, P Checchin, L Malaterre, L Trassoudaine, in *Int. Conf. on Control, Automation, Robotics and Vision (ICARCV)* (Phuket, Thailand, 2016).

Swissranger, Heptagon. http://hptg.com/industrial/. Accessed 22 Aug 2016.

K Lai, L Bo, X Ren, D Fox, in *Robotics and Automation (ICRA), IEEE Int.Conf. on*, (2011), pp. 1817–1824. doi:10.1109/ICRA.2011.5980382.

LC Monteverde, CR Ruiz, Z Huang, *A shape distribution for comparing 3D models* (Springer Berlin Heidelberg, Berlin, Heidelberg, 2006). doi:10.1007/978-3-540-69423-6_6.

Book
Google Scholar

CY Ip, D Lapadat, L Sieger, WC Regli, in *Proc. of the Seventh ACM Symp. on Solid Modeling and Applications*. SMA ’02 (ACMNew York, 2002), pp. 273–280. doi:10.1145/566282.566322.

Chapter
Google Scholar

CY Ip, WC Regli, L Sieger, A Shokoufandeh, in *Proc. of the Eighth ACM Symp. on Solid Modeling and Applications*. SM ’03 (ACMNew York, 2003), pp. 322–327. doi:10.1145/781606.781659.

Chapter
Google Scholar

Y Liu, H Zha, H Qin, in *IEEE Int. Conf. on Shape Modeling and Applications (SMI’06)*, (2006), pp. 16–16. doi:10.1109/SMI.2006.41.

CB Akgul, B Sankur, F Schmitt, Y Yemez, in *Shape Modeling and Applications (SMI’07). IEEE Int. Conf. on*, (2007), pp. 3–12. doi:10.1109/SMI.2007.27.

R Ohbuchi, T Otagiri, M Ibato, T Takei, in *Computer Graphics and Applications. Proc. 10th Pacific Conf. on*, (2002), pp. 265–274. doi:10.1109/PCCGA.2002.1167870.

R Ohbuchi, T Minamitani, T Takei, in *Theory and Practice of Computer Graphics.Proc*, (2003), pp. 97–104. doi:10.1109/TPCG.2003.1206936.

Y Liu, J Pu, H Zha, W Liu, Y Uehara, in *3D Data Processing, Visualization and Transmission (3DPVT). Proc. 2nd Int. Symp. on*, (2004), pp. 896–903. doi:10.1109/TDPVT.2004.1335410.

H Rea, J Corney, D Clark, N Taylor, in *3D Data Processing, Visualization and Transmission (3DPVT). Proc. 2nd Int. Symp. on*, (2004), pp. 167–174. doi:10.1109/TDPVT.2004.1335191.

P Jiantao, L Yi, X Guyu, Z Hongbin, L Weibin, Y Uehara, in *3D Data Processing, Visualization and Transmission (3DPVT 2004). Proc. 2nd Int. Symp. on*, (2004), pp. 95–101. doi:10.1109/TDPVT.2004.1335181.

J Rabin, G Peyré, LD Cohen, in *Proc. of 11th European Conf. on Computer Vision, Heraklion, Crete, Greece, Part V*, ed. by K Daniilidis, P Maragos, and N Paragios (Springer Berlin HeidelbergBerlin, Heidelberg, 2010), pp. 771–784. doi:10.1007/978-3-642-15555-0_56.

AB Hamza, H Krim. IEEE Trans. Image Process. **15**(8), 2249 (2006). doi:10.1109/TIP.2006.875250.

Article
Google Scholar

A Ion, NM Artner, G Peyré, SBL Mármol, WG Kropatsch, LD Cohen, in *Search in 3D 2008*. 3D Shape Matching by Geodesic Eccentricity (IEEEAnchorage, 2008), pp. 1–8. https://hal.archives-ouvertes.fr/hal-00419826.

Google Scholar

G Peyré, LD Cohen. Int. J. Comput. Vision. **69**(1), 145 (2006). doi:10.1007/s11263-006-6859-3.

Article
Google Scholar

A Borovkov, *Mathematical Statistics. Estimation of Parameters, Testing of Hypotheses*, (Nauka, 1984).

R Gal, A Shamir, D Cohen-Or. IEEE Trans. Vis. Comput. Graph. **13**(2), 261 (2007). doi:10.1109/TVCG.2007.45.

Article
Google Scholar

G Peyré, M Péchaud, R Keriven, LD Cohen, Foundations and Trends in Computer Graphics and Vision. **5**(3–4), 197 (2010). doi:10.1561/0600000029.

LD Cohen, R Kimmel, *Computer Vision and Pattern Recognition, Proc.CVPR ’96, IEEE Computer Society Conf. on*, (1996). doi:10.1109/CVPR.1996.517144.

VK Ghorpade, LD Cohen, in *2015 IEEE International Conference on Image Processing (ICIP)*, (2015), pp. 3009–3013. doi:10.1109/ICIP.2015.7351355.

G Peyré, L Cohen, *Geodesic computations for fast and accurate surface remeshing and parameterization*, (Birkhäuser Basel, Basel, 2005). doi:10.1007/3-7643-7384-9_18.

VK Ghorpade, P Checchin, L Trassoudaine, in *Mobile Robots (ECMR), 2015 European Conf. on*, (2015), pp. 1–6. doi:10.1109/ECMR.2015.7324208.

C Schmid, R Mohr, C Bauckhage. Int. J. Comput. Vision. **37**(2), 151 (2000). doi:10.1023/A:1008199403446.

Article
Google Scholar

S Salti, F Tombari, LD Stefano, in *3D Imaging, Modeling, Processing, Visualization and Transmission (3DIMPVT), 2011 Int. Conf. on*, (2011), pp. 236–243. doi:10.1109/3DIMPVT.2011.37.

PJ Besl, ND McKay. IEEE Trans. Pattern Anal. Mach. Intell. **14**(2), 239 (1992). doi:10.1109/34.121791.

Article
Google Scholar

Y Zhong, in *Computer Vision Workshops (ICCV Workshops), IEEE 12th Int. Conf. on* (IEEE, 2009), pp. 689–696.

EW Dijkstra, A Note on Two Problems in Connexion with Graphs. Numer. Math.**1**(1), 269–271 (1959). doi:http://dx.doi.org/10.1007/BF01386390.

Article
MathSciNet
MATH
Google Scholar

J Siek, LQ Lee, A Lumsdaine, Boost Random Number Library (2000). http://www.boost.org/libs/graph/. Accessed 24 Feb 2017.

T Chen, C Guestrin, in *Proceedings of the 22nd ACM SIGKDD International Conference on Knowledge Discovery and Data Mining, San Francisco, CA, USA, August 13-17, 2016*. KDD’16 (ACMNew York, 2016), pp. 785–794. doi:10.1145/2939672.2939785.

Google Scholar

JH Friedman. Ann. Stat, 1189–1232 (2001).

F Chollet (2015). Keras. https://github.com/fchollet/keras. Accessed 24 Feb 2017.

R Al-Rfou, A Alain, C Almahairi, D Angermueller, N Bahdanau, F Ballas, J Bastien, A Bayer, A Belikov, Y Belopolsky, A Bengio, J Bergeron, V Bergstra, JB Bisson, N Snyder, N Bouchard, X Boulanger-Lewandowski, A Bouthillier, O de Brébisson, P-L Breuleux, K Carrier, J Cho, P Chorowski, T Christiano, M-A Cooijmans, M Côté, A Côté, YN Courville, O Dauphin, J Delalleau, G Demouth, S Desjardins, L Dieleman, M Dinh, V Ducoffe, S Dumoulin, D Ebrahimi Kahou, Z Erhan, O Fan, M Firat, X Germain, I Glorot, M Goodfellow, C Graham, P Gulcehre, I Hamel, J-P Harlouchet, B Heng, S Hidasi, A Honari, S Jain, K Jean, M Jia, V Korobov, A Kulkarni, P Lamb, E Lamblin, C Larsen, S Laurent, S Lee, S Lefrancois, N Lemieux, Z Léonard, JA Lin, C Livezey, J Lorenz, Q Lowin, P-A Ma, O Manzagol, RT Mastropietro, R McGibbon, B Memisevic, V van Merriënboer, M Michalski, A Mirza, C Orlandi, R Pal, M Pascanu, C Pezeshki, D Raffel, M Renshaw, A Rocklin, M Romero, P Roth, J Sadowski, F Salvatier, J Savard, J Schlüter, G Schulman, IV Schwartz, D Serban, S Serdyuk, É Shabanian, S Simon, S Spieckermann, J Ramana Subramanyam, J Sygnowski, G Tanguay, J van Tulder, S Turian, P Urban, F Vincent, H Visin, D de Vries, DJ Warde-Farley, M Webb, K Willson, L Xu, L Xue, S Yao, S Zhang, Y Zhang, Theano: A Python framework for fast computation of mathematical expressions. arXiv e-prints. **abs/1605.02688:** (2016). http://arxiv.org/abs/1605.02688.

M Abadi, A Agarwal, P Barham, E Brevdo, Z Chen, C Citro, GS Corrado, A Davis, J Dean, M Devin, S Ghemawat, I Goodfellow, A Harp, G Irving, M Isard, Y Jia, R Jozefowicz, L Kaiser, M Kudlur, J Levenberg, D Mané, R Monga, S Moore, D Murray, C Olah, M Schuster, J Shlens, B Steiner, I Sutskever, K Talwar, P Tucker, V Vanhoucke, V Vasudevan, F Viégas, O Vinyals, P Warden, M Wattenberg, M Wicke, Y Yu, X Zheng, TensorFlow: large-scale machine learning on heterogeneous systems (2015). Software available from https://www.tensorflow.org/. Accessed 24 Feb 2017.

SwissRanger. SwissRanger, Heptagon (2016).

RB Rusu, S Cousins, in *2011 IEEE International Conference on Robotics and Automation*. 3D is here: Point Cloud Library (PCL), (2011), pp. 1–4. doi:10.1109/ICRA.2011.5980567.

Xtion PRO LIVE - specifications. https://www.asus.com/3D-Sensor/Xtion_PRO_LIVE/specifications/. Accessed 23 Aug 2016.

N Srivastava, G Hinton, A Krizhevsky, I Sutskever, R Salakhutdinov. J. Mach. Learn. Res. **15**(1), 1929 (2014). http://dl.acm.org/citation.cfm?id=2627435.2670313. Accessed 24 Feb 2017.

MathSciNet
Google Scholar

K Lai, L Bo, X Ren, D Fox, in *Robotics and Automation (ICRA), IEEE Int. Conf. on*, (2011), pp. 4007–4013. doi:10.1109/ICRA.2011.5980377.

R Socher, B Huval, B Bath, CD Manning, AY Ng, in *Proceedings of the 25th International Conference on Neural Information Processing Systems*. Convolutional-recursive Deep Learning for 3D Object Classification (Curran Associates Inc.USA, 2012), pp. 656–664. http://dl.acm.org/citation.cfm?id=2999134.2999208.

Google Scholar

L Bo, X Ren, D Fox, in *Experimental Robotics: The 13th International Symposium on Experimental Robotics*, ed. by JP Desai, G Dudek, O Khatib, and V Kumar. Unsupervised Feature Learning for RGB-D Based Object Recognition (Springer International PublishingHeidelberg, 2013), pp. 387–402. doi:http://dx.doi.org/10.1007/978-3-319-00065-7_27.

Chapter
Google Scholar

M Schwarz, H Schulz, S Behnke, in *2015 IEEE International Conference on Robotics and Automation (ICRA)*. RGB-D object recognition and pose estimation based on pre-trained convolutional neural network features, (2015), pp. 1329–1335. doi:10.1109/ICRA.2015.7139363.