In this paper, we explore the use of local feature histograms for view-based recognition of free-form objects from range images. Our approach uses a set of local features that are easy to calculate and robust to partial occlusions. By combining them in a multidimensional histogram, we can obtain highly discriminative classifiers without having to solve a segmentation problem.

The system achieves above 91% recognition accuracy on a database of almost 2000 full-sphere views of 30 free-form objects, with only minimal space requirements. In addition, since it only requires the calculation of very simple features, it is extremely fast and can achieve real-time recognition performance.