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Questions tagged [icp]

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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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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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36 views

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 ...
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25 views

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 ...