| Abstract: |  A goal of this work was to choose and implement an algorithm for registration of 3D point clouds using the Point Cloud Library (PCL). The selected cross-correlation algorithm was described in detail, including a theory behind it. In addition, three modifications of the algorithm for improving its performance were suggested. The algorithm was implemented along with additional supplementary applications for preprocessing or generating input data. A performance of the algorithm was examined by experiments on robotic dataset. According to these experiments, the algorithm was able to register consecutive scans in approximately three seconds with translational error in order of centimeters for selected dataset.
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