Tombari, FedericoRemondino, Fabio-2015-04-272015-04-272013https://doi.org/10.1109/DigitalHeritage.2013.6743713https://diglib.eg.org:443/handle/10.1109/DigitalHeritageThis paper presents a review of the state-of-the-art techniques in the field of 3D invariant features for the automatic registration of point clouds and 3D meshes. The paper proposes also a multi-stage 3D registration pipeline implemented using the PCL libraries. Experiments are carried out on datasets related to heritage scenarios and addressing large-scale outdoor data acquisitions as well as small objects.{Data acquisitionEstimationLibrariesThreedimensional displays3DFeaturesMatchingPCLPoint Cloud}10.1109/DigitalHeritage.2013.6743713