Questions tagged [icp]
The icp tag has no usage guidance.
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Differentiating correspondences in ICP objective function?
The Iterative Closest Point (ICP) algorithm usually alternates between two steps:
Point correspondence finding
Nonlinear least squares optimization of ICP objective function given those ...
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Which scan matching technique is most suitable for 2D laser range data?
I have odometry data [x, y, theta] and 2D laser range data from a robot moving in a building.
Based on a new scan, I want to match it with a previous scan to get a corrected pose estimation for the ...
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How to detect loop closures in 2D laser SLAM?
I am trying to build an occupancy grid map using odometry and 2D lidar data through graph optimization. I am not aware of any reliable loop closing methods using only the 2D laser scans. I have been ...
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Which scan matching algorithm can be used to extract the moving objects (in 2D lidar scanner)?
There are different types of scan matching algorithms to match consecutive 2D lidar scans, see https://youtu.be/nvFcN2-NqRc?t=421 (ICP, correlative matching, RANSAC). Most of the algorithms return the ...
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Turtlebot3 2D LIDAR pose estimation
I am trying to implement point to point ICP using a Turtlebot3 as part of a state estimation stack. Here are the sensor specs:
http://www.robotis.us/360-laser-distance-sensor-lds-01-lidar/
Currently ...
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1
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2D point cloud registration success probability
I am trying to implement localisation by storing images from a camera and their accompanying point clouds from a 2D lidar during mapping. During localisation I then use image matching to suggest the ...
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ICP results as command in odometry motion model
im going through the odometry motion model proposed by Thurn in Probabilistic Robotics famous book and i have some questions concerning the kind of command that we can use. I will explain more my ...
2
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Applying Rotation & Translation Matrix Obtained from Iterative Closest Point
Suppose I have M lidar contour points from t = k and N lidar contour points from t = k+1.
(Some of you might question why I have differing number of contour points, and the reason is that these lidar ...
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ICP(Iterative Closest Point) with Partially Overlapping Conditions & Changing Point Numbers
I am currently working on fixing vehicle odometry data using lidar contour points. Since I am receiving lidar data in the form of countour points, I thought I'd use ICP to correct the odometry error ...
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How to derive the camera trajectory from ICP
This may be a very simple question so please bear with me...
Suppose I have a stationary object and point clouds, $n$ $(x,y,z)$ points, of that object taken by a moving camera at time steps $t_i$, $...
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3D points registration with given pairs
I have pairs of matched 3D points (10~50 points) with outliers included. I would like to find the transformation that aligns the source points to the destination points.
To prevent reinventing the ...
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