Open3D RANSAC coarse registration point cloud based on FPFH feature points
In recent years, with the development and popularization of 3D perception technology, point cloud processing has become an important research direction in the fields of computer vision and robotics. In point cloud processing, registration is a key task. It can align multiple point clouds into the same coordinate system, providing a reliable basis for subsequent tasks such as modeling, recognition, and navigation. Open3D is a powerful open source library that provides rich point cloud processing functions. This article will introduce how to use the RANSAC algorithm in Open3D for rough registration based on FPFH feature points.
First, we need to install and import Open3D:
import open3d as o3d
Next, we need to load the two point clouds that need to be registered. Suppose we have two point cloud files, namely cloud1.pcd and cloud2.pcd:
cloud1 = o3d.io.read_point_cloud("cloud1.pcd")
cloud2 = o3d.io