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Theoretically NDT is faster than ICP. But when I measure the time of NDT by clock_t, it costs 10s, while ICP costs only 0.2s through the same way. I don't know what the reasons could be. Thank you!


Originally posted by jjxforever on ROS Answers with karma: 1 on 2017-11-24

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Please check the implementation of ICP. I guess it is implemented to use multi-thread or GPU acceleration. By the way, NDT-D2D registration between two sets of about 3000 Gaussian components with multi-thread processing on Intel I7 CPU takes about 0.2-0.3 sec.


Originally posted by hkhong with karma: 26 on 2018-06-21

This answer was ACCEPTED on the original site

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