From: Local shape feature fusion for improved matching, pose estimation and 3D object recognition
Feature (dim) | Matching time (ms) | Speedup |
---|---|---|
USC (1980) | 2.766 | 1.00 |
SHOT (352) | 0.491 | 5.64 |
SI (153) | 0.226 | 12.3 |
RoPS (135) | 0.202 | 13.7 |
NDHist (128) | 0.194 | 14.3 |
FPFH (33) | 0.061 | 45.4 |
ECSAD (30) | 0.056 | 49.5 |