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how i can do 3-D Point Cloud Registration and Stitching using kinect v2 camera with matlab?

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Hello all. i am doing work on fruit detection using kinect v2 with matlab. now i want to do 3-D Point Cloud Registration and Stitching using kinect v2 camera with matlab. i do not have much idea about this. kindly help me in this regard as soon as possible. thanks

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