In the recent years, we experienced the proliferation of sensors for retrieving depth information on a scene, such as LIDAR or RGBD sensors (Kinect). However, it is still a challenge to identify the meaning of a specific point cloud to recognize the underlying object. Here, we wonder if it is possible to define a global feature for an object that is robust to noise, sampling and occlusion. We propose a local measure based on curvature. We called it Principal Curvatures because rather than using the Gaussian curvature we keep the
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