Mathematical Problems in Engineering / 2014 / Article / Tab 3

Research Article

3D Maps Representation Using GNG

Table 3

RMS deviation error (meters) is obtained using different detector-descriptor combinations. Combinations are computed on the original point cloud (raw) and different filtered point clouds using voxel grid and the proposed GNG method. Keypoint detector search radius is equal to 0.05 meters. Feature extractor search radius is equal to 0.02 meters.

GNGVGRaw
5000100002000050001000020000All points

SIFT3DFPFH0.1680.0920.2310.2390.0730.1390.103
CSHOT0.0520.0370.0190.0630.070.0370.039
PFH0.1850.3670.2550.540.1710.3750.082
PFHRGB0.1060.0290.0570.080.050.0270.041

Harris3DFPFH0.1510.1140.0790.4040.0880.180.128
CSHOT0.0850.0460.0520.0380.0330.0690.066
PFH0.1090.1770.1530.3050.0970.4690.144
PFHRGB0.0540.0470.0420.0330.0580.0430.093

Tomasi3DFPFH0.0490.0540.270.3830.1270.1480.659
CSHOT0.0430.0230.0630.0220.0470.0460.049
PFH0.1890.3080.3190.0670.2580.1230.765
PFHRGB0.1120.1210.0660.0660.0490.0780.062

Noble3DFPFH0.1430.1860.1990.3870.1880.2890.114
CSHOT0.0980.0520.0630.0850.0590.0480.06
PFH0.2730.1270.2390.0730.2440.1880.099
PFHRGB0.1880.1170.0640.0960.0820.0790.077

Lowe3DFPFH0.1430.1170.0760.3870.1880.0930.203
CSHOT0.0650.0520.0620.040.0590.1070.067
PFH0.2730.120.2390.0730.2440.1670.24
PFHRGB0.1880.1350.0160.0770.0820.0760.027

Curvature3DFPFH0.0990.2280.1130.2280.1030.093
CSHOT0.0480.0320.0220.0330.0420.05
PFH0.2620.1510.1230.2440.1010.057
PFHRGB0.1390.0710.0530.0680.0830.023

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