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isprs annals III 3 225 2016

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Figure 1: Multiscale Planar Abstraction.Left: Input pointcloud of a goblet with outliers and noise
Figure 3: Pairwise Orientation.shape of the mug is translated into a mostly uniform distribution with a peak owing to the bottom
Figure 4: Benchmark.(e)quickly with increasing amounts of defects: (c) We compared the performance of our method with the performance of the D2 by Osada et al.(Osada et al.,2002) and ESF by Wohlkinger et al.(Wohlkinger and Vincze, 2011) shape descriptors o
Table 2: Running times (in seconds).

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