[ros-users] How to compare two point clouds?

Hello everybody,

I have general question about 3D point cloud perception, since I am not
really familiar in processing point clouds. I would like to measure the
similarity of two point clouds ... a kind of fitness score between a
reference point cloud and another point cloud.

Currently I am checking the literature, however I couldn't find a
"basic" algorithm. The only common way I found, is the alignment of both
points clouds by their center of mass. Afterwards one of the point cloud
is rotated till a best fit is achieved with the other point could.

Is there maybe some other approach or technique?

Thanks for any comment.

Christian