A 2022 video where @vclay proposes an alternative to using 3D displacements to match graphs using Point Pair Features which have the advantageous properties of being rotation invariant and could also allow for scale invariance. The team then discusses invariance to distortions, how much invariance we would want to have, and how it could be achieved.
00:00 Rotation Invariant Displacements
00:08 Point Pair Features
06:42 Can we Assume Knowledge About Point Normals?
14:31 Adding Slack for New Samples
17:50 Heiko Presents Example Distortions
