ICP registration issue

Question

I use open3d ICP algorithm to register two sets point clouds. The input were similar two point clouds sets. However the result showed the error value is high and if I use the viewer, it showed the 2 sets were only partially matched. Could someone tell me how to improve it? thx

Answer 1

If you could provide us some screenshots so we know in more details. From my experience,

1. bounding box center: Is your point cloud in the center? As far as I know the first is to make the PCs in the center for further ICP registration.

2. Scale: Did you scale your two PCs to same level?

3. Iteration : Some cases needs more iterations to find the match but the trade off is longer processing time. So maybe try to increase the iterations and see how it works.