Fig. 4

Pipeline of the approach depicting different steps in it. The raw point cloud is filtered to make it noise-free. The filtered point cloud is then converted into a graphical representation, where every node is connected with every other node within certain sphere around it. Geodesics and L2 norms are calculated using Dijkstra algorithm. A distribution is made for each view of the object based on these distances and normalized to a PDF. In the last stage, these PDFs are fed into a classifier to build a hypothesis model