Point Cloud Registration

Select pcregistericp with Metric="planeToPlane" as the starting point, evaluate algorithm accuracy using RMSE, and align the point clouds using pcalign.

When to Use

• User asks to register, align or match 3-D point clouds represented as pointCloud objects
• User needs to choose or tune a registration algorithm
• User wants to build a map from multiple lidar scans
• User wants to combine or merge registered point clouds
• User asks about initial transformation estimation for registration
• User asks to preprocess point clouds before registration

When NOT to Use

• User wants to register 2-D point clouds (use matchScans, matchScansGrid, or matchScansLine)
• User wants image registration (use imregtform or imregcorr from Image Processing Toolbox)

Required Toolboxes