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Fast Point Feature Histograms (FPFH) for 3D registration
Fast Point Feature Histograms (FPFH) for 3D registration
R. Rusu,Nico Blodow,M. Beetz
2009 · DOI: 10.1109/ROBOT.2009.5152473
IEEE International Conference on Robotics and Automation · 3,848 citations
TLDR
This paper modifications their mathematical expressions and performs a rigorous analysis on their robustness and complexity for the problem of 3D registration for overlapping point cloud views, and proposes an algorithm for the online computation of FPFH features for realtime applications.