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Fig. 10 | EURASIP Journal on Advances in Signal Processing

Fig. 10

From: 3D shape representation with spatial probabilistic distribution of intrinsic shape keypoints

Fig. 10

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

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