Iterative Closest Point

版本 1.14.0.0 (8.8 KB) 作者: Jakob Wilm
An implementation of various ICP (iterative closest point) features.
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更新时间 2013/1/25

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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.

For an introductory text on the ICP algorithm and the implemented variants, see http://www2.imm.dtu.dk/~jakw/publications/bscthesis.pdf

Hans Martin Kjer & Jakob Wilm -- Evaluation of surface registration algorithms for PET motion correction

引用格式

Jakob Wilm (2024). Iterative Closest Point (https://www.mathworks.com/matlabcentral/fileexchange/27804-iterative-closest-point), MATLAB Central File Exchange. 检索时间: .

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创建方式 R2012a
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致谢

启发作品: Optimal Step Nonrigid ICP

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版本 已发布 发行说明
1.14.0.0

Replaced the link to the thesis.
1.13.0.0

Modified Orthogonal Procrustes to prevent non-plausible rotation matrix (det(R) should be +1).
-- Thank you, Tomasz!
1.12.0.0

Clearing the input parser object due to memory leaks (in older Matlab versions?) -- thanks, Walter!
1.11.0.0

* Added a missing sub function: k_nearest_neighbors
* Fixed a bug in the lsqnorest sub function
* Removed GLTree reference because it is not available any longer
* Updated the examples to be clearer
1.10.0.0

Updated icp.m with a missing sub function.
1.9.0.0

Corrected link to thesis.
1.8.0.0

Combined functions in one file and added a demo script.
1.7.0.0

Corrected a typo in icp.m (as pointed out in the comments, thanks!)
1.4.0.0

Added rms_error and added a screenshot.
1.1.0.0

Added link to thesis.
1.0.0.0