How to detect the difference between two 3D point clouds?

c++ algorithm computer-vision point-cloud-library
soupso picture soupso · Jan 29, 2014 · Viewed 9.5k times · Source

I have two 3D point clouds using the Point Cloud Library. One which is the reference point cloud(lets call it A) and the other one with a deformity(lets call it B). Both the point clouds are taken from objects which are somehow with no or very minute features on the surface, except the edges. These point clouds A and B are also aligned.

  • I want to know if there is any algorithm which can detect the missing cloud from B.
  • How to construct a high resolution 3D image of the missing portion of B.

Helps are appreciated.

Answer

elaheh r picture elaheh r · Jan 30, 2014

there are some "Spatial change detection" solutions offered by PCL.

take look at this link: change detection

It uses the octree structures (build from point clouds) and compare the two octrees for differences.

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