In response to the problems of weak applicability, low registration efficiency and poor robustness of existing point cloud registration algorithms when registering point clouds from different scenes, this paper proposes an efficient registration algorithm for models, indoor scene and outdoor scene point clouds. Firstly, voxel grid filtering is used to downsample the point cloud, and intrinsic shape signatures (ISS) is used to extract point cloud features. Then, fast point feature histograms (FPFH) are used to describe the feature points, and random sample consensus (RANSAC) algorithm is used f...
