Point-to-CAD 3D registration algorithm for relative navigation using depth-based maps

This paper presents an end-to-end 3D registration algorithm for relative navigation between known objects based on a point-to-CAD iterative closest point (ICP) principle. The objective of this method is to take in a measured point cloud extracted from a depth or disparity map – such as the ones
obtained from stereo cameras, time-of-flight cameras, LiDARs, or depth from defocus sensors – and calculate the rigid body transformation that best aligns the measured data with a corresponding 3D CAD model.