| IV-A. | Comparison of point-wise and multi-point methods in combination with location information |
| IV-B. | Comparison of bounded and approximate nearest neighbor search in combination with entropy features |
| IV-C. | Evaluation of descriptor composition (intensity, location, feature) for varying patch and multipoint sizes |
| IV-D. | Comparison of 15 features in combination with intensities and location |
| IV-E. | Evaluation of optimal feature parameters |
| IV-F. | Evaluation of the multi-scale patch |
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