2
votes
Accepted
How to derive the camera trajectory from ICP
Yes that is correct. Easiest way is probably to work with the homogeneous 4x4 Tranform Matrix($T$) composed of $\begin{bmatrix}R & t\\0 & 1\end{bmatrix}$. Then your new pose is then just $T_i$ ...
- 1,901
2
votes
How to detect loop closures in 2D laser SLAM?
The most traditional method is to keep looking at the trajectory and see if your current location is close enough to the previously visited place. Once this happens run the ICP. If ICP converged ...
- 1,577
1
vote
Which scan matching algorithm can be used to extract the moving objects (in 2D lidar scanner)?
I think I understand the problem more now, after your comment about ICP.
Iterative Closest Point (ICP) doesn't exactly match a point or some subset of points, or even features. ICP finds the pose that ...
- 15.9k
1
vote
2D point cloud registration success probability
Matching point clouds can be very tricky. It is kind of a needle-in-a-haystack type of problem when you don't have an initial guess at the correspondence. As you found, if the point clouds are very ...
Ben♦
- 5,885
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vote
Applying Rotation & Translation Matrix Obtained from Iterative Closest Point
I don't know if your confusion is with applying the transform to the points or applying it to the pose. So I'll just show you both.
The easiest way is to store your points and transform in the ...
- 1,901
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