The Crystalline Salts classification is important for the diagnosis of pebbles in human kidneys. aim this study, classified and diagnosed Urine crystals by using a computer program.In 128 samples, these samples consist monocrystalline oxalate crystals, ammonium chlorate cysteine crystals. sixty crystal were collected to have twenty each types mentioned above. They later into different groups de...

In this paper, we propose a robust image feature extraction and fusion method to effectively fuse depth information improve the registration accuracy of RGB-D images. The proposed directly splices point descriptors with corresponding cloud obtain descriptor points. is constructed based on SIFT, SURF, ORB PFH FPFH descriptors. Furthermore, performance features tested through datasets YCB KITTI. ...