Matlab协方差计算的迭代最近点（ICP）
[英]Iterative closest point (ICP) for Matlab with Covariance computation
问题描述
does anybody know an implementation for the Iterative Closest Point (ICP) algorithm in Matlab that computes the covariance matrix? 
有人知道Matlab中用于计算协方差矩阵的迭代最近点（ICP）算法的实现吗？
All i have found is the icptoolboxformatlab but it seems to be offline. 我发现的只是icptoolboxformatlab，但它似乎处于脱机状态。
1 个解决方案
解决方案1
0 2014-12-16 15:12:15
http://censi.mit.edu/research/robot-perception/icpcov/ http://censi.mit.edu/research/robot-perception/icpcov/
There is matlab code for 2D case. 有用于2D情况的matlab代码。 It provide ICP's covariance too. 它也提供ICP的协方差。
I have implemented the 3D variant of Point to Point error metric based ICP covariance estimation, which is inspired from Andrea Censi's work. 我实现了基于点对点误差度量的ICP协方差估计的3D变体，该变体的灵感来自于Andrea Censi的工作。
Have a look at https://sites.google.com/site/icpcovariance/home 看看https://sites.google.com/site/icpcovariance/home
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