| Summary: | Aiming to problems in the pairwise registration of point clouds, such as keypoints are difficult to describe accurately, corresponding points are difficult to match accurately and convergence speed is slow due to uncertainty of initial transformation matrix, we propose a novel feature descriptor based on ratio of rotational volume to describe effectively keypoints, and on the basis of the feature descriptor, we proposed an improved coarse-to-fine registration pipeline of point clouds, in which we use coarse registration to obtain a good initial transformation matrix and then use fine registration based on a modified ICP algorithm to obtain an accurate transformation matrix. Experimental results show that our proposed feature descriptor has a good robustness to rotation, noise, scale and varying mesh resolution, less storage space and faster running speed than PFH, FPFH, SHOT and RoPS descriptors, and our improved pairwise registration pipeline is very effective to solve the problems in the pairwise registration of point clouds.
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