Pose estimation using CVFH

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Pose estimation using CVFH

Hello everyone:

I'm now studying to perform pose estimation with CVFH. I find the tutorial of computing the CVFH feature here:   http://robotics.usc.edu/~potthast/06299166.pdf,  but I don't know how to perform the training stage. Is there any tutorial which shows code for that?

Besides, is there any sample code for matching the model and scene?

Thank you very much!