Figure 1.

Schematic diagram of the VFPS strategy. The leftmost point cloud (a) is an original tobacco point cloud that contains a total of 373,397 points. First, we set a number object for downsampled point cloud, e.g., N = 4096. Then, the VBS with parameters l_x = l_y = l_z = 3cm is applied to the original point cloud to form a point cloud (b) containing 10955 voxels. Each voxel is represented by the center of gravity of points in the voxel, and a voxel example is enlarged in (c). At last, FPS is applied on this temporary voxelized point cloud to generate the final result (d) with an exact 4096 points.