Registration of 3D point clouds using a local descriptor based on grid point normal.

The coarse-to-fine method is the prime technology for point cloud registration in 3D reconstruction. Aimed at the problem of low accuracy of coarse registration for the partially overlapping point clouds, a novel, to the best of our knowledge, 3D local feature descriptor named grid normals deviation angles statistics (GNDAS) for aligning roughly pairwise point clouds is proposed in this paper. The descriptor is designed by first dividing evenly the local surface into some grids along the