Fig. 10
From: 3D shape representation with spatial probabilistic distribution of intrinsic shape keypoints
a Absolute repeatability and b relative repeatability w.r.t. threshold ε (in m) for different 3D keypoint detectors for Washington RGBD-D dataset and our depth data. A keypoint extracted from model M h , \({k^{i}_{h}}\) and transformed according to the ground-truth rotation and translation, (R hl , t hl ) is said to be repeatable if the distance from its nearest neighbor, \({k^{j}_{l}}\), in the set of keypoints extracted from the scene S l is less than threshold ε