Dirk Holz from the University of Bonn in Germany spent his internship at Willow Garage working on the Point Cloud Library (PCL). He implemented a set of modular components for registering point clouds to create three-dimensional models of objects and environments. The work on the registration part of PCL is a joint effort with other researchers from the PCL community and an ongoing project. Please watch the video above for first demonstrations of what is already achievable or read the slides below (download pdf) for more technical details. The software is available as open source part of the PCL project.