Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Bingham Procrustean Alignment for Object Detection in Clutter   A new system for object detection in cluttered RGB-D images is presented. Our
main contribution is a new method called Bingham Procrustean Alignment (BPA) to
align models with the scene. BPA uses point correspondences between oriented
features to derive a probability distribution over possible model poses. The
orientation component of this distribution, conditioned on the position, is
shown to be a Bingham distribution. This result also applies to the classic
problem of least-squares alignment of point sets, when point features are
orientation-less, and gives a principled, probabilistic way to measure pose
uncertainty in the rigid alignment problem. Our detection system leverages BPA
to achieve more reliable object detections in clutter.

19
The categories of this paper are: eess
22
The categories of this paper are: chao-dyn
9
The categories of this paper are: nlin
5
The categories of this paper are: gr-qc
24
The categories of this paper are: dg-ga
18
The categories of this paper are: econ
34
The categories of this paper are: chem-ph
20
The categories of this paper are: acc-phys
26
The categories of this paper are: bayes-an
6
The categories of this paper are: astro-ph
4
The categories of this paper are: cond-mat
28
The categories of this paper are: alg-geom
2
The categories of this paper are: math
8
The categories of this paper are: hep-ex
29
The categories of this paper are: funct-an
10
The categories of this paper are: q-bio