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Implementation of Iterative Closest Point and Trimmed Iterative Closest Point algorithms.

CMake 7.18% C 14.21% C++ 78.61%

point-cloud-registration k-nearest-neighbours iterative-closest-point nanoflann eigen opencv trimmed-iterative-closest-point

icp_tricp's Introduction

ICP and TrICP

Implementation of Iterative Closest Point and Trimmed Iterative Closest Point algorithms.

Initial, 10° rotation around the z axis to displace one of the LionScan pointclouds.	Initial, 20° rotation around the z axis to displace one of the LionScan pointclouds.

After using ICP to register the 2 LionScan pointclouds. (10°)	After using TrICP to register the 2 LionScan pointclouds. (10°)

After using ICP to register the 2 LionScan pointclouds. (20°)	After using TrICP to register the 2 LionScan pointclouds. (20°)

Angular rotation error = arccos((Tr(R'*Rgroundtruth) - 1) / 2)

Name	Angular rotation error	Translation MSE	MSE	Runtime
ICP (10°)	43.61895188360379°	42.12371448351258	5.14622	33.2789 s
TrICP (10°)	12.074753762145663°	5.3375604492657045	2.24015	10.1002 s
ICP (20°)	43.36017013541045°	38.286774289962146	5.14622	34.7251 s
TrICP (20°)	18.911658794566836°	5.331268631078188	4.55636	13.7501 s

Initial, 10° rotation around the z axis to displace one of the fountain pointclouds.	Initial, 20° rotation around the z axis to displace one of the fountain pointclouds.

After using ICP to register the 2 fountain pointclouds. (10°)	After using TrICP to register the 2 fountain pointclouds. (10°)

After using ICP to register the 2 fountain pointclouds. (20°)	After using TrICP to register the 2 fountain pointclouds. (20°)

Angular rotation error = arccos((Tr(R'*Rgroundtruth) - 1) / 2)

Name	Angular rotation error	Translation MSE	MSE	Runtime
ICP (10°)	6.282617302451196°	9.00814058823539	0.270625	24.8517 s
TrICP (10°)	11.218936278870313°	0.06764219165830683	0.00709813	13.1458 s
ICP (20°)	26.351965024001462°	59.101602791646876	0.251174	63.4932 s
TrICP (20°)	29.45099774151091°	38.8969257815729	0.0238604	13.1965 s

TrICP is more robust to rotations and to incomplete, noisy data. TrICP runs faster than ICP and results in lower MSE values.

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