IEEE Robotics & Automation Magazine - December 2015 - 110
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tutorial
Registration with
the Point Cloud Library
A Modular Framework for Aligning in 3-D
By Dirk Holz, Alexandru-Eugen Ichim,
Federico Tombari, Radu B. Rusu, and Sven Behnke
R
egistration is an important step when processing
three-dimensional (3-D) point clouds. Applications
for registration range from object modeling and
tracking, to simultaneous localization and mapping
(SLAM). This article presents the open-source point
cloud library (PCL) and the tools available for point cloud
registration. The PCL incorporates methods for the initial
alignment of point clouds using a variety of local shape feature
descriptors, as well as methods for refining initial alignments
using different variants of the well-known iterative closest
point (ICP) algorithm. This article provides an overview on
registration algorithms, usage examples of their PCL
implementations, and tips for their application. Since the
choice and parameterization of the right algorithm for a
particular type of data is one of the biggest problems in 3-D
point cloud registration, we present three complete examples
Digital Object Identifier 10.1109/MRA.2015.2432331
Date of publication: 16 September 2015
110
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IEEE ROBOTICS & AUTOMATION MAGAZINE
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DECEMBER 2015
of data (and applications) and the respective registration
pipeline in the PCL. These examples include dense red-green-
blue-depth (RGB-D) point clouds acquired by consumer
color and depth cameras, high-resolution laser scans from
commercial 3-D scanners, and low-resolution sparse point
clouds captured by a custom lightweight 3-D scanner on a
microaerial vehicle (MAV).
Registration of 3-D Point Clouds
The problem of consistently aligning two or more point clouds,
i.e., sets of 3-D points, is inherent for 3-D registration. Often the
point clouds are acquired by 3-D sensors from different viewpoints. The registration finds the relative pose (position and
orientation) between views in a global coordinate frame, such
that the overlapping areas between the point clouds match as
well as possible; for two examples of registration see Figure 1.
The overall objective of registration is to align individual point
clouds and fuse them to a single point cloud so that subsequent
1070-9932/15©2015IEEE
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