Descriptor

Leaves

Grape

Branch

Flower

PFH

96.00 ± 0.23

94.68 ± 0.05

95.91 ± 0.19

88.90 ± 0.20

FPFH

96.87 ± 0.20

97.27 ± 0.06

99.20 ± 0.01

94.74 ± 0.15

SHOT

96.38 ± 0.20

95.93 ± 0.03

96.71 ± 0.06

86.05 ± 0.26

RoPS

94.57 ± 0.17

92.64 ± 0.08

93.79 ± 0.15

86.87 ± 0.16

Spin Images

90.04 ± 0.21

94.35 ± 0.05

96.40 ± 0.04

88.29 ± 0.13