Determining weights of points of a point cloud based on geometric features

One or more non-transitory computer readable storage media storing instructions that, in response to being executed by one or more processors, cause a system to perform operations, the operations comprising:

• obtaining a first point cloud;
• performing segmentation of the first point cloud, the segmentation generating a plurality of clusters of points of the first point cloud;
• determining, for each respective cluster of the plurality of clusters, a respective geometric feature of a corresponding object that corresponds to the respective cluster;
• assigning a plurality of weights that comprises assigning a respective weight to each respective cluster based on the respective geometric feature that corresponds to the respective cluster;
• obtaining a second point cloud;
• and
• aligning, based on the plurality of weights, the first point cloud with the second point cloud.

A system comprising:

• one or more processors;
• and
• one or more non-transitory computer readable storage media storing instructions that, in response to being executed by the one or more processors, cause the system to perform operations, the operations comprising:
• obtaining a first point cloud;
• performing segmentation of the first point cloud, the segmentation generating a plurality of clusters of points of the first point cloud;
• determining, for each respective cluster of the plurality of clusters, a respective geometric feature of a corresponding object that corresponds to the respective cluster;
• assigning a plurality of weights that comprises assigning a respective weight to each respective cluster based on the respective geometric feature that corresponds to the respective cluster;
• obtaining a second point cloud;
• and
• aligning, based on the plurality of weights, the first point cloud with the second point cloud.