ICP-Implementation

This repository implements ICP, Point-to-Plane ICP, and G-ICP algorithms.

This repository utilizes the Open3D library for PointCloud processing and Ceres-Solver for Nonlinear Optimization.

References

• ICP Algorithm : Least-Squares Rigid Motion Using SVD by Olga Sorkine-Hornung and Michael Rabinovich.

• ICP(point to plane) Algorithm : Linear Least-Squares Optimization for Point-to-Plane ICP Surface Registration by Kok-Lim Low.

• GICP Algorithm : Generalized-ICP by Aleksandr V. Segal, Dirk Haehnel and Sebastian Thrun.

Dependencies

• Ubuntu
• Open3D
• Ceres-Solver

Build

git clone https://github.com/LimHaeryong/ICP-Implementation.git

cd ICP-Implementation
mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
make -j$(nproc)

Examples

Demonstrates the basic usage of the ICP algorithm. Additionally, compares the results with Open3D's ICP implementation for performance evaluation.

1. ICP example

./icp_example 

2. Point to Plane ICP example

./icp_plane_example

3. Generalized ICP example

./gicp_example

Result

Dataset

The KITTI dataset has been utilized in the examples provided in this repository.