Application of neighborhood feature in point clouds registration

A point clouds registration method based on the invariant features of neighborhood points is proposed. Firstly, the target point set are weighted. Secondly, all the corresponding point-pairs are searched by comparing the feature value and then the preliminary registration is completed. Finally, to register accurately by using the ICP algorithm, this has improved the invariant feature. Experiments indicate the good results of the preliminary registration and the better results of the fine registration, which have met the requirement of registering point clouds from different viewpoints.