Scale matching of 3D point clouds

by finding keyscales with spin images

Scale matching of 3D point clouds

by finding keyscales with spin images

T. Tamaki, S. Tanigawa, Y. Ueno, B. Raytchev, K. Kaneda

Randomly reduced to 30% points

Using normalized Spin images

Original size vs 10 times larger one

keyscale keyscale

keyscale keyscale

keyscale keyscale

Matching scales!

keyscale

keyscale

Scalesare matched

Keyscalematching