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One of the most important topics in the research concerning 3D local descriptors is computational efficiency. The state-of-the-art approach addressing this matter consists in using keypoint detectors that effectively limit the number of points for which the descriptors are computed. However, the choice of keypoints is not trivial and might have negative implications, such as the omission of relevant areas. Instead, focusing on the task of single object detection, we propose a keypoint-lessdoi:10.1515/fcds-2017-0012 fatcat:njyek3dysvdxdk2u3n3na5gujq