Multiple-attribute hashing is now considered to be a powerful approach for the recognition
and localization of 3D objects on the basis of their invariant properties. In the systems
developed to date, the structure of the hash table is fixed and must be created by the system
developer—an onerous task especially when the number of attributes is large, as it must in
systems that use both geometric and nongeometric attributes. Another deficiency of previous
systems is that uncertainty is treated as a fixed value and not modeled. In this paper, we will …