# Questions tagged [icp]

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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 ...
• 121
324 views

### 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 ...
81 views

### 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 ...
• 173
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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 ...
1 vote
209 views

### 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 $t_i$, \$...
• 113
1 vote
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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 ...
• 141
200 views

### 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 ...
• 121
13 views

### 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 ...
• 21
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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 ...
59 views

### Intra-Process Communication between Components in Container

Is it possible to take advantage of Intra Process Comms (IPC) when starting nodes in a container? I've made an example, trying to made a basic subscriber and publisher and looking at the pointer ...
47 views

### Are there any ICP based localization methods implemented in ROS?

Robotics beginner (CSE undergraduate) here. I have been working on a octomap based navigation system that explores an unknown terrain for some time. I completed a prototype navigation system and are ...
1 view

### Can 3D Lidar localize when placed vertically?

Currently the Velodyne puck being used on our UAV can localize in an obstacle course room when it is mounted with the base parallel to the ground. But there are more obstacles above and below the ...
7 views

### Comparision time of ICP and NDT in Matching

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! ...
37 views

### How to detect loop closure and do relative pose graph SLAM in ROS+Gazebo?

I'm implementing relative pose graph SLAM with ROS Kinetic + Gazebo. I can use the laser_scan_matcher node generate pose to pose (relative pose) odometry information (it uses canonical scan matcher to ...
13 views

### How do you take LaserScan data and convert to a point cloud and also do ICP in c++?

So I am still learning ROS, c++ and Ubuntu (14.04), and I am stuck and haven't been able to implement any similar solution thus far. I am hoping someone else has been in a similar situation and can ...
3 views

### ethzasl_icp_mapper service Minimal Example

I'm trying to use the ethzasl_icp_mapper service to match some very simple point clouds. However, I get errors like: ICP failed to converge: no outlier to filter I create two simple point clouds and ...
• 4,294
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### odometry feedback from ICP algorithm

I have a Fotonic E70P (ToF camera) publishing a Pointcloud2 topic. So I would like to know a good way to reconstruct a 3D scene through ICP and get published an odometry topic. Could any of the ...
6 views

### Using ICP inspectors in ethzasl_icp_mapper package

Hi, I have been using the package ethzasl_icp_mapper to build 3D maps. Now I would like to use the inspector provided in the package. But when I enable the PerformanceInspector in the icp.yaml file ...
2 views

### RGBDSLAM ICP fallback when there are not enough features

I'm currently using RGBDSLAM for mapping and autonomous driving. The room I'm trying to map has a big white wall, of course there are not enough features to be detected/extracted (<10), so RGBDSLAM ...
1 view

### ethzasl_icp_mapper doesn't publish data

Hi, I am trying to use the "ethzasl_icp_mapping" package with a kinect.I roslaunch : "sensor.launch", "tracker.launch" and "tracker_viewer-groovy.launch" the ...
23 views

### Performing ICP between Pointclouds in C++

Hi- I'm trying to create a script that takes in 2 bag files (fixed_frame and camera_frame), converts the ROS sensor_msgs/PointCloud2 data to pcl/PointCloud data, performs ICP between the pointcloud in ...
24 views

### How do I convert a mesh to a pointcloud for use with pcl ICP

I want to find partial overlaps between meshes in the household object database and pointcloud sensor data. My method is to convert the arm_navigation_msgs::Shape to a pcl::PointCloud and then find ...
2 views

### Strange FOV error in laser_scan_matcher using a cloud

Hi, I am trying to use laser_scan_matcher with a PointCloud2 made by 2 opposite LaserScans, so I have a 360º pointcloud. Is it possible? When I run laser_scan_matcher i get the following error: (where ...
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9 views

### ICP taking long time to converge

Hi, I took two point clouds of 640x480 size separated by very small distance and ran ICP. The code is running for long time and i had to exit it manually. I guess its like a gradient decent method of ...
2 views

### How can I get ICP covariances using laser_scan_matcher?

In scan_tools laser_scan_matcher there's a parameter called do_covariance_computation which makes laser_scan_matcher calculate covariances but not publish them. I would like to get the covariances of ...
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### PCL IterativeClosestPoint unable to find nearest neighbour

I'm using the RGBDSLAM from http://www.ros.org/wiki/rgbdslam to create a map with my Kinect. The general ICP implementation provided is a bit buggy so I wanted to replace that with the ICP from PCL. ...
48 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 ...