An Evaluation of Local Shape Descriptors in Probabilistic Volumetric Scenes
نویسندگان
چکیده
To simplify the histogram feature computation, we proceed as follows: i) in a first step, for each query point p we compute only the relationships (see Equation 1) between itself and its neighbors – we will call this the Simplified Point Feature Histogram (SPFH); ii) then in a second step, for each point we re-determine its k neighbors and use the neighboring SPFH values to weight the final histogram of p (called FPFH):
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