Abstract We propose a new featurebased registration method for rigidbody alignment of overlapping point clouds (PCs) efficiently under the influence of noise and outliers. The prop...
— In our recent work [1], [2], we proposed Point Feature Histograms (PFH) as robust multi-dimensional features which describe the local geometry around a point p for 3D point clo...
We investigate in this article the rigid registration of large sets of points, generally sampled from surfaces. We formulate this problem as a general Maximum-Likelihood (ML) estim...