Persistent Point Feature Histograms for 3 D Point Clouds

  title={Persistent Point Feature Histograms for 3 D Point Clouds},
  author={Radu Bogdan Rusu and Zoltan Csaba Marton and Nico Blodow},
This paper proposes a novel way of characterizing the local geometry of 3D points, using persistent feature histograms. The relationships between the neighbors of a point are analyzed and the resulted values are stored in a 16-bin histogram. The histograms are pose and point cloud density invariant and cope well with noisy datasets. We show that geometric… CONTINUE READING

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