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I met a problem in points clouds registration,
the question is : I have used a 3d structured lighting scanner to get 12 point clouds(every 30° around the object), now I need to register these points cloud to get a complete object,my processes are as below:
1、input the pair 1->pass through z ->statistic filter ->and we will get the scene points named scene
2、input the pair 2->pass through z ->statistic filter ->and we will get the object points now named obj
3、then for both scene and obj:
downsampling->estimating surface normals->find the keypoints(using SIFT)->Feature Estimation(using SHOTFeature)->Correspondence Esitmation-> Rough Align->ICP->we will get the result named complete
4、updata the complete to scene and repeat step2 to step 4 till all these 12 points cloud are processed
5、we will get a complete object at last
but as you see, this registration(one pair after one pair) is easy to cause error accumulation, and the result is not so good
so I am looking for a better solution now.
thanks a lot!