The overall task for this assignment is to fuse the individual XYZ point clouds to create as much of a complete 3D room model as possible. To do this you need to write a set of programs that can:
- Extract the relevant data from each point cloud.
- Estimate the reference transformation linking each consecutive pair of frames.
- Fuse all of the points into a single 3D coordinate system.
- Build as complete a 3D model as possible and characterise the surfaces. Each of these is described in more detail below.