VPFBR-L

A 3D point cloud registration and localization method based on voxel plane features

Usage

1. Requirement

1. cmake
2. PCL
3. Ceres

2. Build

cd ${YOUR_PROJECT_DIR}
mdkir build
cd build
cmake ..
make

3. Run

#voxel plane features based registration
./VPFBR ../data/1410.pcd ../data/3540.pcd
#voxel plane features based localization
./VPFBL ../data/1410.pcd ../data/3540.pcd

3. Paper

#If you used this open source code, you can refer to our paper
【1】李建微, 占家旺. 三维点云配准方法研究进展[J]. 中国图象图形学报, 2022, 27(02): 349-367. 
【2】Jianwei Li, Jiawang Zhan, Ting Zhou, Virgílio A. Bento, Qianfeng Wang. 
Point Cloud Registration and Localization Based on Voxel Plane Features [J]. 
ISPRS Journal of Photogrammetry and Remote Sensing.（expected to be published in this journal）