Extract projective homography from two Kinect depth maps

Question

Given two consecutive 3D point clouds 1 and 2 (not the whole cloud, say 100 points selected from the cloud with OpenCV\'s GoodFeaturesToMatch), obtained from a Kinect depthm

Answer 1

The Iterative Closest Point algorithm (ICP) is now a part of the official Kinect SDK 1.7 for C#/VB

Recovery of camera pose in VB is pretty easy then.

http://www.microsoft.com/en-us/kinectforwindows/develop/new.aspx