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Roboseum / Software / Algorithms / Perception / Localization and Mapping / Principle / localization / Iterative Closest Point / Iterative Closest Point.md

Harvey Chang on 2 Jan 2019 397 bytes merge

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Iterative Closest Point (ICP 迭代最近邻)

这是一种在各种需要配准两个点云的应用中被广泛采用的算法。采用EM算法的思路，假定在获得一个较准确的先验位姿的前提下，寻找一个最优的R, T，使得x点云中每个点到y点云中离它最近的那个点的距离之和最小
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