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Point Cloud Registration is the problem of aligning the corresponding pointsof two 3D point clouds referring to the same object. The challenges includedealing with noise and partial match of real-world 3D scans. For non-rigidobjects, there is an additional challenge of accounting for deformations in theobject shape that happen to the object in between the two 3D scans. In thisproject, we study the problem of non-rigid point cloud registration for usecases in the Augmented/Mixed Reality domain. We focus our attention on aspecial class of non-rigid deformations that happen in rigid objects with partsthat move relative to one another about joints, for example, robots with handsand machines with hinges. We propose an efficient and robust point-cloudregistration workflow for such objects and evaluate it on real-world datacollected using Microsoft Hololens 2, a leading Mixed Reality device.

Point Cloud Registration of non-rigid objects in sparse 3D Scans with applications in Mixed Reality