FPFH
Fast Point Feature Histogram (FPFH) is a local 3D descriptor used to characterize the geometry of a point’s neighbourhood in a 3D point cloud. Introduced as a faster alternative to the Point Feature Histogram, it enables efficient correspondence estimation for tasks such as object recognition, pose estimation, and scene registration.
The descriptor relies on local geometry and normal information. For each point, normals are estimated and a
FPFH is designed to be rotation-invariant when a local reference frame is established and is relatively fast
Advantages of FPFH include moderate robustness to noise, partial views, and uneven sampling, along with lower