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...
avsegal/gicp master 1Branch0Tags Code LICENSE === Generalized-ICP Copyright (c) 2009 Aleksandr Segal; avsegal@cs.stanford.edu. All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * ...
Initial commit of gicp 1.1 7 years ago matlab Initial commit of gicp 1.1 7 years ago .gitignore Initial commit of gicp 1.1 7 years ago LICENSE Initial commit of gicp 1.1 7 years ago Makefile Initial commit of gicp 1.1 7 years ago ...
GICP论文原文,激光点云配准学习的基础算法之一,也可以从谷歌学术上自己下载,因为这里的积分不知为啥不能设为0了。。。 上传者:start_from_scratch时间:2017-10-22 Fast-generalized-cross-correlation-.zip_cross correlation_互相关时延_ 基于快速广义互相关时延估计算法的深度测量技术 ...
te_gicp); te_gicp.def(py::init([](double epsilon, std::shared_ptr<RobustKernel> kernel) { return new TransformationEstimationForGeneralizedICP( epsilon, std::move(kernel)); }), "epsilon"_a, "kernel"_a) .def(py::init([](double epsilon) { return new TransformationEstimationForGeneralized...
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 ...