Sappa et al. suggest the extraction of edge points and use them for the creating point pairs [15]. Based on our line representation of the scene (figure 2 (bottom right)) the end points of every line are used to create an edge base representation. Figure 6 (left) shows an edge based representation in comparison with the reduced points (right). Figure 5 (c) shows the result of the registration process with the edge points (pairwise matching). The registration speed is good due to the lower number of points. Unfortunately, the matching results are insufficient for office environments, because of the simple structure of the scanned scene. The office environment (corridors) mainly consists of floor, ceiling and walls.
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