{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,17]],"date-time":"2026-03-17T22:37:10Z","timestamp":1773787030964,"version":"3.50.1"},"reference-count":35,"publisher":"MDPI AG","issue":"9","license":[{"start":{"date-parts":[[2021,5,7]],"date-time":"2021-05-07T00:00:00Z","timestamp":1620345600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100012166","name":"National Key Research and Development Program of China","doi-asserted-by":"publisher","award":["No. 2018YFB1105800"],"award-info":[{"award-number":["No. 2018YFB1105800"]}],"id":[{"id":"10.13039\/501100012166","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["No. 51675208"],"award-info":[{"award-number":["No. 51675208"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"The Major Project of Technological Innovation in Hubei Province","award":["No. 2019AAA008"],"award-info":[{"award-number":["No. 2019AAA008"]}]},{"name":"The Major Project of Technological Innovation in Hubei Province","award":["No. 2019AAA073"],"award-info":[{"award-number":["No. 2019AAA073"]}]},{"name":"Excellent Young Program of Natural Science Foundation in Hubei Province","award":["No. 2019CFA045"],"award-info":[{"award-number":["No. 2019CFA045"]}]},{"name":"Key Research and Development Program of Hubei Province","award":["No. 2020BAB137"],"award-info":[{"award-number":["No. 2020BAB137"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Three-dimensional feature description for a local surface is a core technology in 3D computer vision. Existing descriptors perform poorly in terms of distinctiveness and robustness owing to noise, mesh decimation, clutter, and occlusion in real scenes. In this paper, we propose a 3D local surface descriptor using point-pair transformation feature histograms (PPTFHs) to address these challenges. The generation process of the PPTFH descriptor consists of three steps. First, a simple but efficient strategy is introduced to partition the point-pair sets on the local surface into four subsets. Then, three feature histograms corresponding to each point-pair subset are generated by the point-pair transformation features, which are computed using the proposed Darboux frame. Finally, all the feature histograms of the four subsets are concatenated into a vector to generate the overall PPTFH descriptor. The performance of the PPTFH descriptor is evaluated on several popular benchmark datasets, and the results demonstrate that the PPTFH descriptor achieves superior performance in terms of descriptiveness and robustness compared with state-of-the-art algorithms. The benefits of the PPTFH descriptor for 3D surface matching are demonstrated by the results obtained from five benchmark datasets.<\/jats:p>","DOI":"10.3390\/s21093229","type":"journal-article","created":{"date-parts":[[2021,5,7]],"date-time":"2021-05-07T22:36:24Z","timestamp":1620426984000},"page":"3229","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":15,"title":["PPTFH: Robust Local Descriptor Based on Point-Pair Transformation Features for 3D Surface Matching"],"prefix":"10.3390","volume":"21","author":[{"given":"Lang","family":"Wu","sequence":"first","affiliation":[{"name":"State Key Laboratory of Materials Processing and Die &amp; Mould Technology, School of Materials Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kai","family":"Zhong","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Materials Processing and Die &amp; Mould Technology, School of Materials Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhongwei","family":"Li","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Materials Processing and Die &amp; Mould Technology, School of Materials Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ming","family":"Zhou","sequence":"additional","affiliation":[{"name":"Hubei Tri-Ring Forging Co., Ltd., Xiangyang 441700, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hongbin","family":"Hu","sequence":"additional","affiliation":[{"name":"Hubei Tri-Ring Forging Co., Ltd., Xiangyang 441700, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Congjun","family":"Wang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Materials Processing and Die &amp; Mould Technology, School of Materials Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yusheng","family":"Shi","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Materials Processing and Die &amp; Mould Technology, School of Materials Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2021,5,7]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"59","DOI":"10.1111\/cgf.12732","article-title":"Pairwise Registration by Local Orientation Cues: Pairwise Registration by Local Orientation Cues","volume":"35","author":"Petrelli","year":"2016","journal-title":"Comput. 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