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Table 3 Matching efficiency results for all features, with the dimension shown in parentheses

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

  1. All numbers in the middle column give the mean per-vertex time [ms] for a linear search for the two nearest feature neighbors
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