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JP2016207147A   [0004] 

Object recognition from local scale-invariant features   [0039] 
The proceedings of the seventh IEEE international conference on   [0039] 
Surf: Speeded up robust features   [0039] 
ORB: An efficient alternative to SIFT or SURF   [0039] 
Unique signatures of histograms for local surface description   [0039] 
Fast point feature histograms (FPFH) for 3D registration.'' Robotics and Automation, 2009. ICRA'09   [0039] 
Model globally, match locally: Efficient and robust 3D object recognition   [0039] 
Fast 3D object recognition of rotationally symmetric objects   [0053]