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in combination with the density peak location algo-
rithm and we have shown its results on several real
3D scanned scenes. We demonstrated the robustness
to noise of both the PCA descriptor and the overall
method as well as its computational efficiency. The
limitations of the method described in the previous
section are to be addressed in the future.
ACKNOWLEDGEMENTS
This work was supported by the Czech Science Foun-
dation, project GACR 21-08009K Generalized Sym-
metries and Equivalences of Geometric Data. Luk
´
a
ˇ
s
Hruda was also funded by Ministry of Education,
Youth and Sports of the Czech Republic – the stu-
dent research project SGS-2022-015 New Methods
for Medical, Spatial and Communication Data.
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