Table 1 Method control parameters
Parameter | Description |
|---|---|
\(H_b\) | Fixed number of histogram cells |
\(N_{sim}\) | Simplification factor |
\(R_n\) | Sphere parameter used to estimate the vector of features for shape and gradient |
\(K_d\) | Estimates distance between potential key points in the point cloud |
\(T_h\) | Threshold used to key point filtration process |
\(H_s\)/\(H_g\) | Sphere parameters are used to estimate the histogram of features, separated for shape and gradient |
\(N_p\) | Number of selected point pairs used to form triplets |
\(N_T\) | Number of formed triplets used in transformation estimation |