点云配准算法-ICP改进 技术刘博客:http://www.liuxiao.org/ 泡泡机器人 一些PCL库学习博客或网站-几种主要的点云配准算法和开源软件库
https://www.e-learn.cn/content/qita/2332639
几种主要的点云配准算法和开源软件库
ICP算法及其主要变形
Standard ICP
Besl, Paul J., and Neil D. McKay. "A method for registration of 3-D shapes." IEEE Transactions on pattern analysis and machine intelligence 14.2 (1992): 239-256.KD-tree Approximation
Greenspan, Michael, and Mike Yurick. "Approximate kd tree search for efficient ICP." 3-D Digital Imaging and Modeling, 2003. 3DIM 2003. Proceedings. Fourth International Conference on. IEEE, 2003.Soft Outlier Rejection
Rusinkiewicz, Szymon, and Marc Levoy. "Efficient variants of the ICP algorithm." 3-D Digital Imaging and Modeling, 2001. Proceedings. Third International Conference on. IEEE, 2001.Generalized-icp(GICP)
Segal, Aleksandr, Dirk Haehnel, and Sebastian Thrun. "Generalized-ICP." Robotics: science and systems. Vol. 2. No. 4. 2009.Normal ICP(NICP)
Serafin, Jacopo, and Giorgio Grisetti. "NICP: Dense normal based point cloud registration." Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on. IEEE, 2015.Go-ICP
Yang, Jiaolong, et al. "Go-ICP: a globally optimal solution to 3D ICP point-set registration." IEEE transactions on pattern analysis and machine intelligence 38.11 (2016): 2241-2254.
ICP的几个开源库
libpointmatcher
https://github.com/ethz-asl/libpointmatcher
NDT算法
2D-NDT
Biber, Peter, and Wolfgang Straßer. "The normal distributions transform: A new approach to laser scan matching." Intelligent Robots and Systems, 2003.(IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on. Vol. 3. IEEE, 2003.3D-NDT
Magnusson, Martin, Achim Lilienthal, and Tom Duckett. "Scan registration for autonomous mining vehicles using 3D‐NDT." Journal of Field Robotics 24.10 (2007): 803-827.
【泡泡点云时空-PCL源码解读】ICP点云精配准算法
https://mp.weixin.qq.com/s/eNofskmSmwl8jH6BvNKfBg
PCL-ICP例子:
https://github.com/hyx007/paopao_ws/blob/master/icp_example/src/icp.h
https://github.com/hyx007/paopao_ws/blob/master/icp_example/src/icp_example.cpp
一分钟详解PCL中点云配准技术
https://www.jianshu.com/p/18d4270aad2a
Fast ICP算法进行点集或曲面配准解析
https://blog.****.net/viewcode/article/details/8426846
Deep Closest Point: Learning Representations for Point Cloud Registration
使用 SVD 方法求解 ICP 问题
Dynamic Graph CNN for Learning on Point Clouds
Globally consistent registration of terrestrial laser scans via graph Optimization
https://blog.****.net/tjm059/article/details/82988772
https://www.cnblogs.com/ghjnwk/p/10475358.html