View source for File:NARF descriptor.png

Example of NARF descriptor (right) being computed on a keypoint from a range image (left). A start pattern is overlaid onto a local range patch, and the final descriptor encodes the amount of surface changes under each beam (image from [http://www.willowgarage.com/sites/default/files/icra2011_3dfeatures.pdf original paper] by Bastian Steder et al.).