RISAS: A Robust RGB-D Feature Invariant to Rotation, Illumination and Scale

RISAS is a novel RGB-D keypoint detector and feature descriptor.

For more details, please refer to https://person.zju.edu.cn/yongliu

Contents:

• ManipulatorsDataset: The constructed RGB-D evaluation benchamark dataset with individual variation.
• RISAS_detector: A Matlab implementation of RISAS detector.
• RISAS_descriptor: A Matlab implementation of RISAS descriptor.

Usage:

Our approach is operated on Matlab and needs VLFeat package. Firstly, please download VLFeat http://www.vlfeat.org/ and run /vlfeat/toolbox/vl_setup.m in Matlab.