{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,24]],"date-time":"2026-02-24T18:54:29Z","timestamp":1771959269925,"version":"3.50.1"},"reference-count":40,"publisher":"MDPI AG","issue":"16","license":[{"start":{"date-parts":[[2022,8,21]],"date-time":"2022-08-21T00:00:00Z","timestamp":1661040000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"14th Five-Year Ministries-level Pre-research Project","award":["50904050201"],"award-info":[{"award-number":["50904050201"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>At present, PPF-based point cloud recognition algorithms can perform better matching than competitors and be verified in the case of severe occlusion and stacking. However, including certain superfluous feature point pairs in the global model description would significantly lower the algorithm\u2019s efficiency. As a result, this paper delves into the Point Pair Feature (PPF) algorithm and proposes a 6D pose estimation method based on Keypoint Pair Feature (K-PPF) voting. The K-PPF algorithm is based on the PPF algorithm and proposes an improved algorithm for the sampling point part. The sample points are retrieved using a combination of curvature-adaptive and grid ISS, and the angle-adaptive judgment is performed on the sampling points to extract the keypoints, therefore improving the point pair feature difference and matching accuracy. To verify the effectiveness of the method, we analyze the experimental results in scenes with different occlusion and complexity levels under the evaluation metrics of ADD-S, Recall, Precision, and Overlap rate. The results show that the algorithm in this paper reduces redundant point pairs and improves recognition efficiency and robustness compared with PPF. Compared with FPFH, CSHOT, SHOT and SI algorithms, this paper improves the recall rate by more than 12.5%.<\/jats:p>","DOI":"10.3390\/s22166289","type":"journal-article","created":{"date-parts":[[2022,8,22]],"date-time":"2022-08-22T01:56:40Z","timestamp":1661133400000},"page":"6289","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":14,"title":["A Fast Point Cloud Recognition Algorithm Based on Keypoint Pair Feature"],"prefix":"10.3390","volume":"22","author":[{"given":"Zhexue","family":"Ge","sequence":"first","affiliation":[{"name":"College of Intelligent Science, National University of Defense Technology, Changsha 410073, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiaolei","family":"Shen","sequence":"additional","affiliation":[{"name":"College of Information Engineering, Henan University of Science and Technology, Luoyang 471000, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Quanqin","family":"Gao","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Electrical Engineering, Changsha College, Changsha 410005, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Haiyang","family":"Sun","sequence":"additional","affiliation":[{"name":"College of Information Engineering, Henan University of Science and Technology, Luoyang 471000, China"},{"name":"Hunan Sany Industrial Vocational and Technical College, Changsha 410129, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiaoan","family":"Tang","sequence":"additional","affiliation":[{"name":"College of Information Engineering, Henan University of Science and Technology, Luoyang 471000, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qingyu","family":"Cai","sequence":"additional","affiliation":[{"name":"College of Information Engineering, Henan University of Science and Technology, Luoyang 471000, China"},{"name":"Hunan Sany Industrial Vocational and Technical College, Changsha 410129, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2022,8,21]]},"reference":[{"key":"ref_1","first-page":"586","article-title":"Method for registration of 3-D shapes","volume":"1611","author":"Besl","year":"1992","journal-title":"IEEE Trans. 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