Matching Dots in Java

Question

I`m developing a new robot for a Rescue Competition, and we want to use SLAM to do the mapping and Localization. One of the main problems is to match a list of dots with another list of dots. We are running the robot on an Android 2.4Ghz, with a self made app. Does anyone know about any Java Library for ICP (Iterative Closest Point) or PSM (Polar Scan Matching) algorithm? If not, do you know how to implement it in Java? Thanks

Answer 1

This is a pretty vague answer, but you could try your luck with the MITK (Medical Imaging Toolkit) Framework. Some filters there employ the ICP Algorithm. Since the whole thing is open source you should be able to find what you need there. It's all written in C++ though. Plus Side: They are working on an improved version, the Anisotropic ICP. Also check the point based registration module from the 3m3 branch of MITK: The Point Based Registration Module