Fig. 2From: Local shape feature fusion for improved matching, pose estimation and 3D object recognitionGeometric entities in a spherical support of radius \(r\) around an oriented point \((\mathbf {p},\mathbf {n})\). Although many surface points exist in this neighborhood, we show only one, \(\mathbf {p} _i\), at a distance \(d _i\) from the center Back to article page