Generalized-ICP(GICP)将 Point-To-Point和Point-To-Plane ICP用统一的概率框架描述,并拓展为Plane-to-Plane ICP(GICP)算法,这个算法精度更高,对点于点之间最大距离阈值 d_{max} 更加不敏感,对初值更加不敏感…
处的法向量 四、GICP方法介绍 GICP方法同样是针对图1中算法的第11行进行修改,在其中附加了一个概率模型。设有两组点云按照编号一一对应 , 可以根据测量模型认为 , ,则有 令 ,则其分布如下: 然后,可以利用极大似然估计的方法计算 : 把ICP问题这样建模以后, 和 的选择就成为了一个需要考虑的问题。其选取如下...
modified GICPtrimmed methodIn this paper, we introduce a modified Generalized Iterative Closest Point (GICP) algorithm by presenting a coarse-to-fine strategy. Our contributions can be summarized as: Firstly, we use adaptively a plane-to-plane probabilistic matching model by gradually reducing the ...
ann_1.1.1 Initial commit of gicp 1.1 Aug 16, 2015 data Initial commit of gicp 1.1 Aug 16, 2015 matlab Initial commit of gicp 1.1 Aug 16, 2015 .gitignore Initial commit of gicp 1.1 Aug 16, 2015 LICENSE Initial commit of gicp 1.1 Aug 16, 2015 Makefile Initial commit of gicp 1.1 Aug...
Reconstruction results of ETH Hauptgebaude generated by CoBigICP and GICP. Both estimated aligned point clouds are colored, with the ground truth being white. CoBigICP can solve 3D rigid transformation between two point clouds. It adopts correntropy as the noise model and prunes putative nearest ...