点云配准的方法
基于局部特征配准：PFH、FPFH、3Dsc
基于全局特征配准：4pcs、super4pcs、kfpcs
基于概率配准：NDT
https://blog.csdn.net/peach_blossom/article/details/78506184
https://blog.csdn.net/weixin_43236944/article/details/88188532
https://blog.csdn.net/o180o/article/details/90034652
https://www.pianshen.com/article/8230348944/
https://zhuanlan.zhihu.com/p/91275450
https://www.zhihu.com/question/34170804
