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Visualization of matches and registration results of FPFH, Predator, and LiverMatch on two pairs of the source point cloud (blue) and target point cloud (red). The first two rows show the results for the same pair of source and target point clouds, while the last two show the results for another pair of source and target point clouds. Unmatched points are shown in gray (the first and third rows). Note that point clouds in FPFH are down-sampled.
