A simple neural network algorithm to register 3D point clouds

3D point cloud registration is of great importance in robotics and computer vision to find a rigid body transformation to align a pair of point clouds with unknown point correspondences. In recent years, the deep learning model has dominated the field of computer vision. The important part of registration is the estimation of correspondences between point clouds. The main idea of studying correspondences between point clouds is to establish correspondences through the multidimensional features of each point. In this paper, we propose a simple neural network algorithm to register incongruent point clouds. The proposed algorithm utilizes the virtual points and is partially based on the PointNet++ neural network. Computer simulation results are provided to illustrate the performance of the proposed method.