We present a scalable method for detecting objects and estimating their 3D
poses in RGB-D data. To this end, we rely on an efficient representation of
object views and employ hashing techniques to match these views against the
input frame in a scalable way. While a similar approach already exists for 2D
detection, we show how to extend it to estimate the 3D pose of the detected
objects. In particular, we explore different hashing strategies and identify
the one which is more suitable to our problem. We show empirically that the
complexity of our method is sublinear with the number of objects and we enable
detection and pose estimation of many 3D objects with high accuracy while
outperforming the state-of-the-art in terms of runtime.

该研究提出了一种可扩展的方法，用于在 RGB-D 数据中检测物体并估计其 3D 姿态。研究表明，该方法具有较高的精确度和运行效率，能够检测和估计许多 3D 对象的姿态。

Hashmod: 一种适用于可扩展的三维物体检测的哈希方法

Hashmod: A Hashing Method for Scalable 3D Object Detection

The explosive growth in big data has attracted much attention in designing
efficient indexing and search methods recently. In many critical applications
such as large-scale search and pattern matching, finding the nearest neighbors
to a query is a fundamental research problem. However, the straightforward
solution using exhaustive comparison is infeasible due to the prohibitive
computational complexity and memory requirement. In response, Approximate
Nearest Neighbor (ANN) search based on hashing techniques has become popular
due to its promising performance in both efficiency and accuracy. Prior
randomized hashing methods, e.g., Locality-Sensitive Hashing (LSH), explore
data-independent hash functions with random projections or permutations.
Although having elegant theoretic guarantees on the search quality in certain
metric spaces, performance of randomized hashing has been shown insufficient in
many real-world applications. As a remedy, new approaches incorporating
data-driven learning methods in development of advanced hash functions have
emerged. Such learning to hash methods exploit information such as data
distributions or class labels when optimizing the hash codes or functions.
Importantly, the learned hash codes are able to preserve the proximity of
neighboring data in the original feature spaces in the hash code spaces. The
goal of this paper is to provide readers with systematic understanding of
insights, pros and cons of the emerging techniques. We provide a comprehensive
survey of the learning to hash framework and representative techniques of
various types, including unsupervised, semi-supervised, and supervised. In
addition, we also summarize recent hashing approaches utilizing the deep
learning models. Finally, we discuss the future direction and trends of
research in this area.

本研究综述了基于哈希技术的 ANN 搜索的发展历程和应用，重点介绍了基于数据驱动学习方法和深度学习模型的哈希应用技术，分析了优缺点，并探讨了未来的研究趋势。