Aiming at conflict between convergence rate

convergence interval and registration precision of point cloud registration algorithm

a point cloud registration algorithm from coarse to fine is proposed. In coarse registration

a variable scale point cloud registration algorithm is used to solve the conflict between convergence interval and registration precision. In fine registration process

an improved iterative closest point（ ICP） algorithm is used by setting rotation angle constraint and dynamic iterative coefficient in order to solve bad registration effect brought by over large changes of rotation angles and increase the iterative convergence rate of the algorithm greatly. The experimental results show that the point clound registration algorithm from coarse to fine has higher registration precision and rate

it is an effective point cloud registration algorithm.