components


iterative closest point registration

neubias's picture
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Author(s): 
Jakob Wilm, Hans Martin Kjer
Description: 

The ICP algorithm takes two point clouds as an input and return the rigid transformation (rotation matrix R and translation vector T), that best aligns the point clouds.

Example: [R,T] = icp(q,p,10);

Aligns the points of p to the points q with 10 iterations of the algorithm. The transformation is then applied using R*p + repmat(T,1,length(p));

The file has implemented both point to point and point to plane as well as a couple of other features such as extrapolation, weighting functions, edge point rejection, etc.

Link: 
http://www2.imm.dtu.dk/~jakw/publications/bscthesis.pdf