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Open3d ISS key points
2022-07-07 08:22:00 【dayuhaitang_ galaxy】
List of articles
One 、 brief introduction
ISS Its full name is Intrinsic Shape Signatures, It is a three-dimensional shape descriptor , This descriptor is mainly used to describe the local part of the point cloud / Characteristics of semi local regions , This is convenient for later registration and other processes . The calculation process is mainly divided into two steps :
1、 First, point based p p p And its adjacent points to create a local coordinate system , The coordinate axis of the coordinate system is the three eigenvectors of the covariance matrix in the following formula .
2、 Judge whether the point is ISS Characteristic point , See the following formula for the judgment conditions :
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