Figure 5
From: Point cloud registration of arrester based on scale-invariant points feature histogram
Point cloud registration method based on SIPFH. Firstly, the scale-invariant keypoints are located after generating the point cloud, and then the FPFH features of the keypoints are calculated to obtain the SIPFH descriptor. Secondly, SAC-IA algorithm determines the best matching scheme for two-point cloud and completes the initial point cloud registration. Finally, the improved LM algorithm realize the local optimization of two-point cloud.
