A Point Cloud Registration Algorithm Based on Feature Extraction and Matching

Algorithm 2

INDT algorithm.

Input: two point clouds and to be registered

Output: Point cloud and after accurate registration;

1: //Initialization

2: Divide the ell structure B

3: for all points do

4: find the cell containing the point ,

5: store in

6: end for

7: for all cells do

8: all points in

9:

10:

11: end for

12: //Registration

13: while not converged do

14:

15:

16:

17: for point do

18: find the cell containing the conversion function

19: +

20: update

21: update

22: end for

23: solve

24:

25: end while