Think locally, fit globally: Robust and fast 3D shape matching via adaptive algebraic fitting

In this paper, we propose a novel 3D free form surface matching method based on a novel key-point detector and a novel feature descriptor. The proposed detector is based on algebraic surface fitting. By global smooth fitting, our detector achieved high computational efficiency and robustness against non-rigid deformations. For the feature descriptor, we provide algorithms to compute 3D critical net which generates a meaningful structure on standalone local key-points. The scale invariant and deformation robust Dual Spin Image descriptor is provided based on the 3D critical net. Our method is proved by solid mathematics. Intensive quantitative experiments demonstrate the robustness, efficiency and accuracy of the proposed method.