这里我们来看求解PointToPlane ICP中的优化问题 (1)argminR,tJ=∑i=1n||niT(Rpi+t−qi)||2s.t.RTR=I,det(R)=1 迭代求解 很多代码实现(比如libpointmatcher)都是用迭代求解方式[1]。该求解方法的核心是将旋转矩阵R近似为: (2)R≈(1−γβγ1−α−βα1)将式(2)带入式(1),问题就变成了...
点云配准: 刚性ICP中 Point-to-Point 和 Point-to-Plane 公式推导 ==> 帮助你代码实现1. 预备知识 现有向量 \pmb{a} = (a_1, a_2, a_3)^T, \pmb{b} = (b_1, b_2, b_3)^T(1) 向量叉乘 ① \pmb{a} \times \pmb{b}…
plane error metric has been shown to converge much faster than one that uses the point-to-point error metric. At each iteration of the ICP algorithm, the change of relative pose that gives the minimal point-to-plane error is usually solved using standard nonlinear least-squares methods,...
The method has the advantages of the classic point-to-plane ICP method, but extends this to higher dimensions. For demonstration purposes, this paper will focus on a RGB-D sensor that provides colour and depth measurements simultaneously and an optimal error in higher dimensions will be minimized...
The Iterative Closest Point (ICP) algorithm that uses the point-to-plane error metric has been shown to converge much faster than one that uses the point-to-point error metric. At each iteration of the ICP algorithm, the change of relative pose that gives the minimal point-to-plane error ...
point_to_plane_icp_test: /build/buildd/pcl-1.7-1.7.2/kdtree/include/pcl/kdtree/impl/ kdtree_flann.hpp:136: int pcl::KdTreeFLANN<PointT, Dist>::nearestKSearch(const PointT&, int, std::vector<int>&, std::vector<float>&) const [with PointT = pcl::PointNormal; Dist = flann::...
Point cloud ICP module provides an API to align 3D points from a pair of lidar spins via Point-Plane Iterative Closest Points implementation. Its usage is shown inICP (Iterative Closest Points) Sample. This module assumes that only a small translation and rotation exists between the two point ...
BoxPointType LocalMap_Points;boolLocalmap_Initialized =false;voidlasermap_fov_segment()//针对激光雷达视场角来完成图像分割{cub_needrm.shrink_to_fit();//将容量设置为容器的长度 V3D pos_LiD;if(use_imu_as_input) {pos_LiD =kf_input.x_.pos + kf_input.x_.rot....
Point-to-Point ICP Point-to-Plane ICP 以上两个公式中,pi,qi分别表示Source Point和Destination Point,ni表示qi处的法向量。 可以看到上述两种公式中,距离都是按照Point Pair来计算了,也就是说对于每个Source Point,都要找到唯一的一个Destination Point来计算距离,反之却不必要唯一。求解使上述距离和最小的R和t...
Point-to-Plane ICP,原始 ICP 算法的代价函数中使用的 point-to-point 距离,point-to-plane 则是考虑源顶点到目标顶点所在面的距离,比起直接计算点到点距离,考虑了点云的局部结构,精度更高,不容易陷入局部最优;但要注意 point-to-plane 的优化是一个非线性问题,速度比较慢,一般使用其线性化近似; ...