Global & Local Registration result not good

[csyhping]

Checklist

• I have searched for similar issues.
• For Python issues, I have tested with the latest development wheel.
• I have checked the release documentation and the latest documentation (for main branch).

My Question

Hi @reyanshsolis , I'm trying to do the global and local registration for my data following the Open3D tutorial . I've checked similar issues and tuned the parameters voxel_size = 0.005 and distance_threshold = voxel_size * 10, but the result is not good.

The data is attached. Please check this link
data.zip

The code is almost the same as the tutorial; I just modified the data loading part to read my data.

Here are some images of my current results; I expect the source chair mesh could align with the chair point cloud. There is another problem: the result differs from time to time, so the result below is the best one I have chosen. It is not good, but they are aligned reasonably after the global registration (but still wrong; the back of the chairs have different orientations).

Init status

Global Registration result:

ICP Refine result:

Could you please give some hints or help on this? Thank you very much!