SIFT features have two parts: location and scale. (Figure out the details about them later).
Now the idea is trying to replace the scale part, when combining with the depth data. How to decide the scale selection mechanism consistent to depth data.
Take a reference to the NYU paper presented by Reza, which takes three different scales.
See the SIFT tutorial in vlfeat.org. Think about how to customize the sift: location, scale and orientation.
About the surfel:
Know how to get the surfel. Not go into the render part.
GICP algorithm developed by Alex,
search how to run it on MATLAB platform.
run script shell from matlab.
write data to png file...NOT SOLVED
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