We present an efficient and robust point cloud registration (PCR) workflow for part-wise rigid point cloud alignment using the Microsoft HoloLens 2. Point Cloud Registration (PCR) is an important problem in Augmented and Mixed Reality use cases, and we present a study for a special class of non-rigid transformations. Many commonly encountered objects are composed of rigid parts that move relative to one another about joints resulting in non-rigid deformation of the whole object such as robots with manipulators, and machines with hinges. The workflow presented allows us to register the point cloud with various configurations of the point cloud.

翻译：我们提出了一种高效且鲁棒的点云配准工作流，用于利用Microsoft HoloLens 2实现部件式刚体点云对齐。点云配准在增强现实与混合现实场景中是一个关键问题，本文针对一类特殊的非刚体变换进行了研究。许多常见物体由可绕关节相对运动的刚体部件组成（例如带有机械臂的机器人、含铰链的机械设备），从而导致整体发生非刚体变形。本文提出的工作流能够对点云在不同配置下完成配准。