Master Thesis : 3D Alignment using Point Pair Features

Abstract

In the realm of modern technology, 3D point cloud alignment holds great importance for diverse applications. This study delves into the effectiveness of the Point Pair Features (PPF) method [1] in achieving such alignment. The method's implementation is explored in detail, unveiling the challenges encountered during its application. Notably, the study addresses the conversion of mesh data to point cloud format and the intricate process of selecting potential alignment outcomes. Through innovative solutions, these challenges are surmounted, paving the way for a comprehensive evaluation. The performances of the PPF method is compared on standard datasets with the current method used by Euresys, who proposed this study. The results are promising and show high potential for the PPF method.