YeeKal
icp

icp-multiple variants

YeeKal • •
"#icp"
  • 加快搜索效率
    • K-D tree [Zhang, 1994]
    • Voronoi graph
  • 距离度量方式
    • 点到点
    • PLICP: 点到线 [2008] > Censi, A. (2008). "An ICP variant using a point-to-line metric." IEEE International Conference on Robotics & Automation. IEEE,: 19-25. > CSM（Canonical Scan Matcher）源码 http://censi.mit.edu/software/csm/
    • 点到面
    • GICP： 面到面, 泛化的ICP > http://www.roboticsproceedings.org/rss05/p21.pdf > GICP学习笔记: https://blog.csdn.net/u014509577/article/details/86912909
  • 封闭解
    • SVD
    • Unit Quaternions: 单位四元数
    • The ICP error function minimization via orthonormal matrices ?
    • Dual Quaterions
  • 数值解
    • Levenberg-Marquardt algorithm: > Jerbić, B., et al. (2015). "Robot Assisted 3D Point Cloud Object Registration."
    • 点到面 线性最小二乘法 > Low, K.-L. (2004). "Linear Least-Squares Optimization for Point-to-Plane ICP Surface Registration."
  • optimization
    • 观测误差
    • 部分重叠
    • 离群点(outlies)
    • 不满足一一对应
    • IDC / Trimmed ICP / MBICP / EM-ICP / NICP / GO-ICP /eICP

CSM: Canonical Scan Matcher

CSM: a pure C implementation of a very fast variation of ICP using a point-to-line metric optimized for range-finder scan matching

# install
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
make install

# install folder
-- Installing: /usr/local/scripts/run-example.sh
-- Installing: /usr/local/scripts/run-example.bat
-- Installing: /usr/local/assets
-- Installing: /usr/local/assets/hippo2.obj
-- Installing: /usr/local/assets/hippo1.obj
-- Installing: /usr/local/doc
-- Installing: /usr/local/doc/Doxyfile
- Installing: /usr/local/lib/cmake/Super4PCSConfig.cmake
-- Installing: /usr/local/lib/cmake/Super4PCSConfigVersion.cmake
-- Installing: /usr/local/lib/libsuper4pcs_io.a
-- Installing: /usr/local/lib/libsuper4pcs_algo.a
-- Installing: /usr/local/bin/Super4PCS

Generalized ICP

ref

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