Scale matching of 3D point clouds by finding keyscales with spin images Scale matching of 3D point clouds by finding keyscales with spin images T. Tamaki, S. Tanigawa, Y. Ueno, B. Raytchev, K. Kaneda Randomly reduced to 30% points Using normalized Spin images Original size vs 10 times larger one keyscale keyscale keyscale keyscale keyscale keyscale Matching scales! keyscale keyscale Scales are matched Keyscale matching