Figure 12
From: 3D point cloud registration based on a purpose-designed similarity measure
3D alignment in cluttered scenes (point-of-interest environment radius equal to 120 mm). (a) Range images: scene (left) and object model (right). (b) Corresponding points (normal vector in magenta) which obtained the maximum similarity value. (c) CIRCON images associated with those points. (d) Alignment: reduced cloud (left) and 3D rendering using the original point clouds (right).