点云配准 Registration

PCL ICP算法

PCL学习笔记二：Registration (ICP算法)

PCL里有很多ICP可以用

pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >

is an ICP variant that implements the generalized iterative closest point algorithm as described by Alex Segal et al.

pcl::IterativeClosestPoint< PointSource, PointTarget, Scalar >

provides a base implementation of the Iterative Closest Point algorithm. 

pcl::IterativeClosestPointWithNormals< PointSource, PointTarget, Scalar >

is a special case of  IterativeClosestPoint, that uses a transformation estimated based on Point to Plane distances by default.

pcl::IterativeClosestPointNonLinear< PointSource, PointTarget, Scalar >

 is an ICP variant that uses Levenberg-Marquardt optimization backend.

pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >

extends ICP to multiple frames which share the same transform.

pcl::registration::IncrementalICP< PointT, Scalar >

This class provides a way to register a stream of clouds where each cloud will be aligned to the previous cloud.

The computational steps for two datasets are straightforward:

• from a set of points, identify interest points (i.e., keypoints) that best represent the scene in both datasets;
• at each keypoint, compute a feature descriptor;
• from the set of feature descriptors together with their XYZ positions in the two datasets, estimate a set of correspondences, based on the similarities between features and positions;
• given that the data is assumed to be noisy, not all correspondences are valid, so reject those bad correspondences that contribute negatively to the registration process;
• from the remaining set of good correspondences, estimate a motion transformation.

转载于:https://www.cnblogs.com/larry-xia/p/9723316.html