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Roboseum / Software / Algorithms / Perception / localization-and-mapping / principle / localization / iterative-closest-point / iterative-closest-point.md

guzhaoyuan on 3 Jan 2019 446 bytes all the modification and conflict fix for gitbook

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Iterative Closest Point

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 Alt text