US Patent 9098773 System and method of detecting objects in scene point cloud

A system and method of detecting one or more objects in a three-dimensional point cloud scene are provided. The method includes receiving a three-dimensional point cloud scene, the three-dimensional point cloud scene comprising a plurality of points; classifying at least a portion of the plurality of points in the three-dimensional point cloud into two or more categories by applying a classifying-oriented three-dimensional local descriptor and learning-based classifier; extracting from the three-dimensional point cloud scene one or more clusters of points utilizing the two or more categories by applying at least one of segmenting and clustering; and matching the extracted clusters with objects within a library by applying a matching-oriented three-dimensional local descriptor.