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Heritage Science
Fig. 15 | Heritage Science

Fig. 15

From: Fast adaptive multimodal feature registration (FAMFR): an effective high-resolution point clouds registration workflow for cultural heritage interiors

Fig. 15

Key points evaluation process on the geometrical features (right) and gradient features (left). a input cloud, b evenly distributed subset of points, c all potential key points split into two categories, utilising geometrical or gradient features, d key points filtered using threshold \(T_h\), e) Final key points used for registration

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