Multi-Scale Registration is a point cloud alignment algorithm that addresses noise and different scale management. This project showcases our work in the field of point cloud alignment, providing a framework for aligning point clouds with varying scales on each coordinate axis. It integrates an inner optimization block with a pattern search algorithm to achieve accurate alignment.

The repository is organized as follows:

This folder contains the YAML file necessary to define the parameters and data required for the alignment process.

The UTIL folder contains a file called utils.py, which includes various utility functions that are called by the algorithm.

The ALIGNMENT folder houses the implemented algorithm.

To run the algorithm, follow these steps:

• Specify the path to the .npz point cloud file in the YAML file.
• Open the terminal and navigate to the alignment folder.
• Run the mcs_alignment.py script. Please note that this project is currently in development, and further specifications will be provided in this README.

• Diego Polimeni: [email protected]
• Alessandro Pannone: [email protected]

Feel free to reach out to the contributors if you have any questions or suggestions.

Thank you for your interest in our project!