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3D point cloud descriptors: state-of-the-art:

Han, Xian-Feng ; Feng, Zhi-Ao ; Sun, Shi-Jie.
Artificial Intelligence Review.  56 (2023)  10 - p. 12033-12083 , 2023
Link: https://doi.org/10.1007/s10462-023-10486-4