Submitted by Manuel Dahnert.

Submission data

Full nameFast Point Feature Histogram + 3-Point Ransac
DescriptionWe use the FPFH (Rusu et al.) as local feature descriptor to compute correspondences between Haris keypoints of the CADs and of the scan.
We filter the correspondences and compute a transformation using a 3-Point Ransac.
Input Data TypesUses Geometry        Uses 3D
Programming language(s)C++, PCL
HardwareIntel Xeon E5-1620 v3
Submission creation date21 Jan, 2019
Last edited22 Jan, 2019

CAD Alignment

Infoavg (per CAD)avg (per class)bathtubbookshelfcabinetchairdisplayothersofatabletrashbin
0.0370.0200.0000.0000.0150.1070.0000.0120.0210.0290.000