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The goal of this work is to evaluate 3D keypoints detectors and descriptors, which could be used for quasi real time 3D object recognition. The work presented has three main objectives: extracting descriptors from real depth images, obtaining an accurate degree of invariance and robustness to scale and viewpoints, and maintaining the computation time as low as possible. Using a 3D time-of-flight (ToF) depth camera, we record a sequence for several objects at 3 different distances and from 5doi:10.1117/12.872483 dblp:conf/3dica/ShaiekM11 fatcat:shij333f3fffllvmjvstalsi2i