An Extensive Approach to Features Detection and Description for 2D Range Data using Active B-splines

This letter presents three novel contributions for the two-dimensional laser scan data. First, a low-level point feature detector for stable interest point detection. Second, an approach for high-level B-splines features extraction, and finally, a local descriptor for the interest points based on the shape context representation of the uniformly distributed points on the B-splines features. The cl...