author = "Nascimento, Erickson Rangel and Schwartz, William Robson and 
                         Oliveira, Gabriel Leivas and Vieira, Ant{\^o}nio Wilson and 
                         Campos, Mario Fernando Montenegro and Mesquita, Daniel Balbino",
          affiliation = "{Universidade Federal de Minas Gerais} and {Universidade Federal 
                         de Minas Gerais} and {University of Minnesota} and Unimontes and 
                         {Universidade Federal de Minas Gerais} and {Universidade Federal 
                         de Minas Gerais}",
                title = "Appearance and Geometry Fusion for Enhanced Dense 3D Alignment",
            booktitle = "Proceedings...",
                 year = "2012",
               editor = "Freitas, Carla Maria Dal Sasso and Sarkar, Sudeep and Scopigno, 
                         Roberto and Silva, Luciano",
         organization = "Conference on Graphics, Patterns and Images, 25. (SIBGRAPI)",
            publisher = "IEEE Computer Society",
              address = "Los Alamitos",
             keywords = "Descriptor, RGB-D Camera, Reconstruction, Registration, 
                         Three-dimensional Mapping.",
             abstract = "This work proposes a novel RGB-D feature descriptor called Binary 
                         Appearance and Shape Elements (BASE) that efficiently combines 
                         intensity and shape information to improve the discriminative 
                         power and enable an enhanced and faster matching process. The new 
                         descriptor is used to align a set of RGB point clouds to generate 
                         dense three dimensional models of indoor environments. We compare 
                         the performance of state-of-the-art feature descriptors with the 
                         proposed descriptor for scene alignment through the registration 
                         of multiple indoor textured depth maps. Experimental results show 
                         that the proposed descriptor outperforms the other approaches in 
                         computational cost, memory consumption and match quality. 
                         Additionally, experiments based on cloud alignment show that the 
                         BASE descriptor is suitable to be used in the registration of 
                         RBG-D data even when the environment is partially illuminated.",
  conference-location = "Ouro Preto",
      conference-year = "Aug. 22-25, 2012",
             language = "en",
           targetfile = "ieee_pdf_express_verification_PID2444573.pdf",
        urlaccessdate = "2021, Jan. 27"