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The local reference frame (LRF), as an independent coordinate systemgenerated on a local 3D surface, is widely used in 3D local feature descriptorconstruction and 3D transformation estimation which are two key steps in thelocal method-based surface matching. There are numerous LRF methods have beenproposed in literatures. In these methods, the x- and z-axis are commonlygenerated by different methods or strategies, and some x-axis methods areimplemented on the basis of a z-axis being given. In addition, the weight anddisambiguation methods are commonly used in these LRF methods. In existingevaluations of LRF, each LRF method is evaluated with a complete form. However,the merits and demerits of the z-axis, x-axis, weight and disambiguationmethods in LRF construction are unclear. In this paper, we comprehensivelyanalyze the z-axis, x-axis, weight and disambiguation methods in existing LRFs,and obtain six z-axis and eight x-axis, five weight and two disambiguationmethods. The performance of these methods are comprehensively evaluated on sixstandard datasets with different application scenarios and nuisances.Considering the evaluation outcomes, the merits and demerits of differentweight, disambiguation, z- and x-axis methods are analyzed and summarized. Theexperimental result also shows that some new designed LRF axes present superiorperformance compared with the state-of-the-art ones.

The Z-axis, X-axis, Weight and Disambiguation Methods for Constructing Local Reference Frame in 3D Registration: An Evaluation