What is the search radius for Step "3D fine matching"?


As shown here, the search radius will affect the final confidence value of the matching. However, what role does adjusting this parameter play? Could you explain the meaning behind this parameter?

The larger the search radius, the less strict the 3D fine matching will be performed.

When evaluating the results of fine matching, it is necessary to check whether each point on the model point cloud can find the corresponding point in the object point cloud. This is the search radius used when looking for the corresponding object point cloud point.

The points obtained from the search have varying distances. The score for each point pair will then
be assigned based on the relationship between the point pair distance and the search radius. The smaller the distance and the larger the search radius, the higher the score for the corresponding point pair.