AOMC: An Adaptive Point Cloud Clustering Approach for Feature Extraction

Table 2

Comparison of run time on local feature point extraction.

Feature points number	1,024	1,536	2,048
Farthest selection	1.51 s	3.56 s	5.83 s
Random selection	7 × 10^−4 s	1.11 × 10^−3 s	15 × 10^−3 s
DBSCAN	0.07 s	0.08 s	1.01 s
k-means (k = 10)	0.32 s	0.36 s	0.47 s
Agglomerative clustering (n = 10)	2.91 s	2.96 s	3.01 s
Ours	0.55 s	0.58 s	0.64 s