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Questions tagged [icp]

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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 ...
jordi's user avatar
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2 votes
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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: Currently ...
ConfusedRobot's user avatar
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Iterative Closest Point mapping of 3D lidar pointclouds

I know there are several posts on ICP and I have already gone through several of those. However, I am unable to get a decent enough result in my case. This post is basically to gain in insight into ...
ASH's user avatar
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ROS 2 Mesh file and Pointcloud Matching Package

Hi Dear ROS Developers, I am looking for a ros2 package to take input of my PCD mesh file and compare the PCD with Real-time point-cloud data on the given frame and giving me the center of the object ...
Vignesh's user avatar
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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 ...
Lotfi Zeghmi's user avatar
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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 ...
Chanoh Park's user avatar
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