3D Point cloud matching using ICP

Hello,

I am trying to find a match between 2 sent of points. I have

point_cloud_phantom = [x y z] (size -12000 x 3)

point_from_image = [xm ym zm] (12 x 3)

tform = pcregistericp(point_from_image, point_cloud_phantom);

tr = pctransform(point_from_image,tform)

figure;

pcshow(x);

hold on;

pcshow(y, 'MarkerSize', 100);

hold on

figure

pcshow(x);

hold on;

pcshow(tr, 'MarkerSize', 100);

Matching dosent really look great. What can I do to improve? Or am I doing something wrong?

initial image:

fiinal image after roation

Answer 1

[Shivam Singh]

Hello Nilesh,

It is my understanding that you are trying to use pcregistericp function to register a moving point cloud to a fixed point cloud.

For improving your registration output, you may also explore different Name-Value Arguments of “pcregistericp” function like Metric, MaxIteration, InitialTransform, etc.

You may also refer other registration algorithms available in MATLAB like pcregisterndt, pcregistercorr, and pcregistercpd.

I hope it helps you.