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Table 2 Evaluation of our proposal considering the different elements

From: Robust head pose estimation based on key frames for human-machine interaction

VariantsDescriptorsGlobal3D modelWeighted
 SURFFPFHoptimizationupdateICP
   (Eq. 10)(Eq. 11)(Eq. 15)
KFv1YesNoNoNoNo
KFv2YesNoYesYesNo
kFv3YesYesYesYesYes