Table 1.

Histogram bins used for computing feature components (see Section 3.2.2 for details). The symbols -∞ and ∞ are used to denote the lower and upper bounds of a particular feature, respectively.

Feature type	Boundaries of histogram bins	Number of resulting feature components (bins)
Density	[−∞, −916, −496, −157, −45, 1, 40, ∞]	7
Gradient Magnitude	[0, 29, 110, 162, 542, ∞]	5
Curvature	[0, 0.18, 1]	2
Boundary Distance	[−1.0, −0.04, 0.03, 0.27, ∞]	4
Texture	[0, 0.70, 0.94, 1, ∞]	4
Y-Location	[−∞, 0.25, 0.43, 0.59, 0.79, 0.84, ∞]	6
Z-Location	[−∞, −0.03, 0.07, 0.33, 0.74, ∞]	5