Descriptor

Leaves

Grape

Branch

Flower

PFH

1.5/6.0

1.0/5.0

0.5/5.0

0.5/2.5

FPFH

2.5/6.0

1.0/5.0

1.5/5.0

0.5/5.0

SHOT

1.5/6.0

1.0/5.0

1.5/6.0

0.5/5.5

RoPS

0.5/6.0

1.0/4.0

0.5/4.5

1.0/1.5

Spin Images

2.5/7.0

1.5/5.0

1.5/5.0

1.0/1.5