Classification of Clothing Using Midlevel Layers

Figure 8

Graphical representation of the two components of TPFH. Top: eFPFH component with 𝛽,𝜃, and 𝜙 shown. 𝑉, 𝑊, and 𝑈 represent the coordinates of point 𝐶 (centroid), with respect to the normal of 𝐶 and the position of 𝐶 and 𝑃₁. 𝑁₁ is the normal of point 𝑃₁. Bottom: Table component with 𝛼 shown. 𝑇_𝑃 is the centroid of the table, while 𝑁_𝑇 is the normal of the table. 𝑁_𝑖 is the normal of point 𝑃_𝑖 and 𝑃₁→𝑃₇ are arbitrary points in the cloud surrounding point 𝐶.