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

Radu Bogdan Rusu rusu at willowgarage.com
Fri Feb 18 19:08:03 UTC 2011


VFH is your friend: http://www.ros.org/wiki/vfh_cluster_classifier.


On 02/18/2011 03:02 AM, Christian Mueller wrote:
> 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
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