This week i was trying to get 3D keypoints from Point Cloud. I use PCL and the algorithm is based on 2004 David G. Lowe paper. In PCL, the algorithm is extended 2D + 1 in the spatial domain.
I was able to obtain the keypoint extraction through Difference of Gaussian. Currently i need to compute the keypoint descriptor and match it up to another point cloud. Unfortunately, since Point Cloud is 3D data, we can’t implement SIFT Descriptor instead it is replaced with PFH Descriptor.
Note: the red dots are the keypoint