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

Axelrod, Benjamin baxelrod at irobot.com
Fri Feb 18 13:47:19 UTC 2011

I think ICP (Iterative Closest Point) is typically used to compare two
point clouds if they are not too dissimilar.  

-----Original Message-----
From: ros-users-bounces at code.ros.org
[mailto:ros-users-bounces at code.ros.org] On Behalf Of Christian Mueller
Sent: Friday, February 18, 2011 6:02 AM
To: ros-users at code.ros.org
Subject: [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.


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