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This resolves the complex issue of parameter determination for density clustering in different point cloud environments and enhances the robustness of clustering. Furthermore, the LineMod dataset is transformed into a point cloud dataset, and experiments are conducted on the transformed dataset to achieve promising results with our algorithm. Finally, experiments under both strong and weak lighting conditions demonstrate the algorithm's robustness.<\/jats:p>","DOI":"10.1007\/s40747-024-01508-x","type":"journal-article","created":{"date-parts":[[2024,6,16]],"date-time":"2024-06-16T16:01:23Z","timestamp":1718553683000},"page":"6581-6595","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["Pose estimation algorithm based on point pair features using PointNet\u2009+\u2009\u2009+"],"prefix":"10.1007","volume":"10","author":[{"ORCID":"https:\/\/orcid.org\/0009-0003-5012-3658","authenticated-orcid":false,"given":"Yifan","family":"Chen","sequence":"first","affiliation":[]},{"given":"Zhenjian","family":"Li","sequence":"additional","affiliation":[]},{"given":"Qingdang","family":"Li","sequence":"additional","affiliation":[]},{"given":"Mingyue","family":"Zhang","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2024,6,16]]},"reference":[{"key":"1508_CR1","unstructured":"Rad M, Lepetit V. 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