Iterative Closest Point

发表于 2019-03-14 更新于 2020-12-11 分类于算法

This article briefly discusses the main idea of ICP alogorithm for the reminding work

Given the following point sets: \[X =\{ x_1,...,x_{N_x}\}\]

\[P =\{ p_1,...,p_{N_p}\}\]

Wanted:

Translation \(t\) and rotation \(R\) that minimize the sum of the squared error

\[E(R,t) = \frac{1}{N_p}\sum{}\]