Local shape feature fusion for improved matching, pose estimation and 3D object recognition

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Table 5 Decomposition of the total per-object detection timings of each of the single feature systems for the UWA dataset

Feature	Decimation	Seeds	Feature estimation	PCA projection	Matching	RANSAC	ICP	Segmentation
ECSAD	0.307	0.002	0.013	0.000	0.053	0.549	0.211	0.003
NDHist	0.307	0.002	0.019	0.005	0.069	0.537	0.213	0.003
RoPS	0.307	0.002	0.149	0.005	0.065	0.520	0.202	0.003
SHOT	0.307	0.002	0.050	0.036	0.079	0.536	0.208	0.003
SI	0.307	0.002	0.006	0.007	0.067	0.440	0.166	0.002