Point cloud normal estimation and Correspondence based on Normal shooting

Souce cloud: shape model

Target cloud: point cloud from Kinect

Normal cloud: a cloud of normal for shape model cloud

Step 1: Normal estimation based on point cloud itself

Step 2: Figure out the normal direction based on the view port position

Step 3: Find the correspondence in target cloud for each point in source cloud (shape model)

Results:

Figure 1 Red points: shape model cloud; Blue line: normal starts from point; colorful point: cloud from Kinect

Figure 2 Side view of Figure 1.

Figure 3 Top view of Figure 1.

Figure 4 Green points are the correspondences obtained from normal shooting