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K-Closest Points and Maximum Clique Pruning for Efficient and Effective 3-D Laser Scan Matching (RA-L 2022)

Home Page: https://stephlin.github.io/KCP/

License: BSD 3-Clause "New" or "Revised" License

CMake 10.10% C++ 89.90%

point-clouds point-cloud-registration scan-matching data-association robotics autonomous-vehicles

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real-lab metavai liuxinren456852 pig-worm grandzxw evanmey kongan mfkiwl yangzhengshi lgtm-migrator woodpecker0 xiandenis hijasonzou rstallman whuhxb

kcp's Issues

Could it apply to 2d point cloud registration

Hello author,
Thanks for your sharing excellent work to community!

Could we apply KCP to a 2d point cloud registration problem ?
If we can, does KCP need user to provide point cloud correspondences? Teaser++ does not support pure 2D transformation, and it also needs user to generate the correspondences, here

Thanks for your help.

How can I use it for scan to map step ?

About the Paper

Hi! Lin
Thanks for sharing your great works.
If possible, can your share the preprint paper in docs?
Best regards

HI Lin, the program always print the debug info
"*** [pmc: thread 3] current max clique = 154, time = 0.0690331 sec
DEBUG current mc: 154
DEBUG current mc: 154
DEBUG current mc: 154
DEBUG current mc: 154"
Could I close it and what should I do?

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