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You might want to try the SURE 3D features: code.google.com/p/sure-3d-features

See these papers for details: * SURE: Surface Entropy for Distinctive 3D Features: www.ais.uni-bonn.de/papers/Spatial_Cognition_2012_SURE.pdf

  • Place Recognition using Surface Entropy Features: www.ais.uni-bonn.de/papers/ICRA_WS_SPME_2012_Fiolka_et_al.pdf

You might want to try the SURE 3D features: code.google.com/p/sure-3d-features

See these papers for details: * details:

  • SURE: Surface Entropy for Distinctive 3D Features: www.ais.uni-bonn.de/papers/Spatial_Cognition_2012_SURE.pdf

    • Place Recognition using Surface Entropy Features: www.ais.uni-bonn.de/papers/ICRA_WS_SPME_2012_Fiolka_et_al.pdf

You might want to try the SURE 3D features: features:

code.google.com/p/sure-3d-features

See these papers for details:

  • SURE: Surface Entropy for Distinctive 3D Features: www.ais.uni-bonn.de/papers/Spatial_Cognition_2012_SURE.pdf

  • Place Recognition using Surface Entropy Features: www.ais.uni-bonn.de/papers/ICRA_WS_SPME_2012_Fiolka_et_al.pdf