A Point Cloud Registration Algorithm Based on Feature Extraction and Matching

Algorithm 1

Point cloud initial registration algorithm.

Input: source cloud , target cloud

Output: Registered point cloud

1: Extract feature points from the source cloud and the target cloud separately

2: for all points do

3: if is a key point then

4:

5: end if

6: end for

7: for all do

8:

9: end for

10: gets and in the same way

11: for point do

12: gets

13: end for

14: for point do

15: most similar point to in

16:

17: end for

18: getRemainingCorrespondences();

19: estimateRigidTransformation(,);

20: transformPointCloud(,,transform_matrix);

21: Return ;