title: Global matching of 3D point clouds
body: <p>There are many kinds of ways of point clouds matching. for example, ICP, pcl's matching of ppf or something else. But most of them are matching one target to one source (one by one).</p>
  <p>Now I have a case is that I have one pointcloud with a bottle as model, and the other pointcloud is lots of bottles as scene. I want to match the model to the scene and get not only one result of objects(one by many).</p>
  <p>I find a api in MVTEC, this is exactly what I need, but it is payable.</p>
  <p><a href="https://i.stack.imgur.com/xetwQ.png" rel="nofollow noreferrer"><img src="https://i.stack.imgur.com/xetwQ.png" alt="enter image description here" /></a></p>
  <p>You can see on the left of the photo is the real secene and the right side is pointcloud.
  I want to find &quot;many of bottles&quot; in scene pointcloud of using one model pointcloud.</p>
  <p>I know there's some ways of declaring global counterpoint, but all of them can just match one result in scene, not what I want that get multiple result.</p>
  <p>Is there any idea or implementation method is open source or in any paper?</p>