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Yes that is correct. Easiest way is probably to work with the homogeneous 4x4 Tranform Matrix($T$) composed of $\begin{bmatrix}R & t\\0 & 1\end{bmatrix}$. Then your new pose is then just $T_i$ multiplied by $\Delta T_{i+1}^{i}$(relative transform). For every new relative transform just do this concatenation. So $T_{i+1}=T_i*\Delta T_{i+1}^{i}$ Note:...


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Matching point clouds can be very tricky. It is kind of a needle-in-a-haystack type of problem when you don't have an initial guess at the correspondence. As you found, if the point clouds are very different there really isn't a great way to quantify the similarity. This holds even if the two scans are similar (or even the same!) but have very different ...


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