3D feature descriptor 1 3D point cloud 1 3d feature descriptor 1 Deep learning Feature descriptors 1 Hierarchical features 1 Local reference frame 1 Local references 1 Point cloud registration 1 Reference frame 1 Registration methods 1 Rotation invariance 1 Surface measurement 1 article 1 deep learning 1 dimensionality reduction 1 local reference frame (LRF) 1 neighborhood 1 rotation 1 rotation invariance 1 writing 1