2. Fine registration


2a. ICP Registration (cloud to cloud)

ICP Registration is an algorithm to automatically perform fine registration of a moving point cloud against one or more reference clouds. The moving cloud must be roughly close to the reference cloud.


2b. Bundle Adjustment

This algorithm allows to register many point clouds, distributing evenly the registration error. The user specifies which point clouds are reference clouds (they are locked during the registration) and which are moving; the moving clouds will move and align on the reference clouds and between them during alignment.


At the end of the processes you should see your scans well aligned.