Registration with the Point Cloud Library: A Modular Framework for Aligning in 3-D

@article{Holz2015RegistrationWT,
  title={Registration with the Point Cloud Library: A Modular Framework for Aligning in 3-D},
  author={Dirk Holz and Alexandru Eugen Ichim and Federico Tombari and Radu Bogdan Rusu and Sven Behnke},
  journal={IEEE Robotics & Automation Magazine},
  year={2015},
  volume={22},
  pages={110-124}
}
Registration is an important step when processing three-dimensional (3-D) point clouds. Applications for registration range from object modeling and tracking, to simultaneous localization and mapping (SLAM). This article presents the open-source point cloud library (PCL) and the tools available for point cloud registration. The PCL incorporates methods for the initial alignment of point clouds using a variety of local shape feature descriptors, as well as methods for refining initial alignments… CONTINUE READING

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