Icp algorithm

- The “classic”
**ICP algorithm**¶. This**algorithm**can be invoked in MRPT via the methods mrpt::slam::CICP::AlignPDF(), ::Align() (or their 3D equivalent versions) by setting**ICP_algorithm**= CICP::icpClassic in the structure CICP::options.The specific**algorithm**implemented in MRPT performs a kind of progressive refinement as it approaches convergence. If you want to **ICP**称为 Iterative Closest Point，顾名思义，是通过最近邻法来估计对应点的。. 对 Source 点云中的一点，求解其与 Target 点云中距离最近的那个点，作为其对应点。. 当然，这样操作的时间复杂度很高，为了加速计算，我们不需要计算 Target 点云中每个点到 Source 点云中 ...- (
**ICP) algorithm**, which starts with pre-estimated overlapping regions. This pa-per presents an improved**ICP algorithm**that can automatically register multiple 3D data sets from unknown viewpoints. The sensor projection that represents the mapping of the 3D data into its associated range image and a cross projec- - Aug 11, 2017 · The
**algorithm**requires a proper initial value and the approximate registration of two point clouds to prevent the**algorithm**from falling into local extremes, but in the actual point cloud matching process, it is difficult to ensure compliance with this requirement. In this paper, we proposed the**ICP algorithm**based on point cloud features (GF-**ICP**). - This is the creation of the
**ICP**object. We set the parameters of the**ICP algorithm**. setMaximumIterations(iterations) sets the number of initial iterations to do (1 is the default value). We then transform the point cloud into cloud_**icp**.After the first alignment we set**ICP**max iterations to 1 for all the next times this**ICP**object will be used (when the user presses “space”).