Boundary points based scale invariant 3D point feature

In this paper, we propose a method for encoding scale invariant 3D point features. We extract a set of boundary points from a point cloud. Next, we apply the scale-space concept on the boundary points to detect the scale invariant point border. We confirm three orthometric axes as the local reference frames. Three distribution matrices are generated by implementing the strategy of SPIN image method, and one row-vector of descriptors are finally calculated. Experimental results on simulated and real scene point clouds demonstrate that the scale-invariant features of 3D point clouds can be effectively encoded by our method. (C) 2017 Published by Elsevier Inc.