I have a point cloud of an object in the scene, obtained with depth ZED camera( in real-time), and a CAD surface model of that object. How can I match the point cloud to the CAD model, to obtain the translation and rotation between the cloud and model in real-time?
I suppose I could sample the surface and try the Iterative Closest Point (ICP) algorithm to match the resulting sampled point cloud to the CAD point cloud. Would that actually work? I was thinking to modify the registration algorithm and use this example PCL Registration example. But what should I change in order to read the ZED Camera points clouds in real-time and match with the CAD model?
And are there better algorithms for this task? Thanks
