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We investigate on local reference frames (LRF) deployed with 3D descriptors to achieve invariance to objects' pose. We address the task of matching together partial views of surfaces and propose an experimental study on a large corpus of real data which allows for clearly ranking existing LRF proposals based on their repeatability. Then, drawing inspiration from analysis of the experimental findings, we formulate a new proposal which, in particular, peculiarly includes a procedure aimed atdoi:10.1109/iccv.2011.6126503 dblp:conf/iccv/PetrelliS11 fatcat:qygn2x7gz5apflzlmbtwaflnqi