A Tutorial Review on Point Cloud Registrations: Principle, Classification, Comparison, and Technology Challenges

A point cloud as a collection of points is poised to bring about revolution in acquiring and generating three-dimensional (3D) surface information an object 3D reconstruction, industrial inspection, robotic manipulation. In this revolution, the most challenging but imperative process could registration, i.e., obtaining spatial transformation that aligns matches two clouds acquired different coordinates. survey paper, we present overview basic principles, give systematical classification comparison various methods, address existing technical problems registration. This review attempts serve tutorial academic researchers engineers outside field promote discussion unified vision The goal help readers quickly get into their interests related registration provide them with insights guidance finding out appropriate strategies solutions.