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• 08:05, 2 April 2014 Victorm (talk | contribs) uploaded File:GFPFH.png (Usage of a voxel grid for the GFPFH descriptor. For every pair of leaves, a ray is casted, and all leaves in its trajectory are checked to see if they contain free or unoccupied space, reflecting this in an histogram (image taken from [https://www.will...)