How to register sequential point clouds gathered from a walk down a hallway -

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for our university project captured .oni video while walking down hallway. converted each frame of .oni video .pcd file. think best way stitch these cloud files recreate single point cloud representing entire captured hallway. i'm not sure if iterative closest point or feature based registration fit better. recommendations appreciated!

sounds job pcl registration api. example take @ "how incrementally register pairs of clouds" tutorial. uses icp.

also take @ other registration related tutorials.


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