3D keypoint is widely used for object recognition and pose estimation with a 3D point cloud since it has robustness against measurement noise and occlusion. Many types of 3D keypoints and the corresponding detection methods of 3D keypoints have been proposed. It is essentially important to select suitable 3D keypoint depending on a target object. scene situation. https://www.kingarte.com/product-category/barsmall-kitchen-appliancesmicrowave-parts/