Fuzzy logic and histogram of normal orientation-based 3D keypoint detection for point clouds.

•We propose a novel fuzzy logic and histogram of the normal orientation-based 3D keypoint detection scheme.•We estimate the relevant parameters instead of finding the best empirical parameters for various datasets.•We propose a soft decision boundary by a fuzzy rule-based system.•The proposed approach improves the performance of the 3D detector, especially in noisy point cloud data.