Registerable Feature Type

When searching for corresponding features in the two data sets, there are a variety of criteria that one can use for classifying points as being similar or interesting or key points, such as colour, local surface normals, local curvature shape, edgeness, texture, etc. (22,73,66,62,38,78,26,14,36,8,70,37,1). All such features are to varying degrees sensitive to noise and other conditions such as occusion and thus, the extraction of such features is also a challenging task. This contrasts with using the points directly (19,5,21) with the shortcoming that such algorithms often require good initialisation.