PWR-Align: Leveraging Part-Whole Relationships for Part-wise Rigid Point
  Cloud Registration in Mixed Reality Applications
Manorama Jha Bhaskar Banerjee
We present an efficient and robust point cloud registration (PCR) workflow
for part-wise rigid point cloud alignment using the Microsoft HoloLens 2. Point
Cloud Registration (PCR) is an important problem in Augmented and Mixed Reality
use cases, and we present a study for a special class of non-rigid
transformations. Many commonly encountered objects are composed of rigid parts
that move relative to one another about joints resulting in non-rigid
deformation of the whole object such as robots with manipulators, and machines
with hinges. The workflow presented allows us to register the point cloud with
various configurations of the point cloud.