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A Novel 2.5D Feature Descriptor Compensating for Depth Rotation

We introduce a novel type of local image descriptor based on Gabor filter responses. Our method operates on RGB-D images. We use the depth information to compensate for perspective distortions caused by out-ofplane rotations. The descriptor contains the responses of a multi-resolution Gabor bank. Contrary to existing methods that rely on a dominant orientation estimate to achieve rotation invariance, we utilize the orientation information in the Gabor bank to achieve rotation invariance during the matching stage. Compared to SIFT and a recent also projective distortion compensating descriptor proposed for RGB-D data, our method achieves a significant increase in accuracy when tested on a wide-baseline RGB-D matching dataset.