How to detect the difference between two 3D point clouds?

Question

I have two 3D point clouds using the Point Cloud Library. One which is the reference point cloud(lets call it A) and the other one with a deformity(lets call it B). Both the point clouds are taken from objects which are somehow with no or very minute features on the surface, except the edges. These point clouds A and B are also aligned.

• I want to know if there is any algorithm which can detect the missing cloud from B.
• How to construct a high resolution 3D image of the missing portion of B.

Helps are appreciated.

Answer 1

there are some "Spatial change detection" solutions offered by PCL.

take look at this link: change detection

It uses the octree structures (build from point clouds) and compare the two octrees for differences.