MariaWang96 / ICP-MATLAB-Code

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ICP-MATLAB-Code

Iterative closet point algorithm (Point to point distance)

Remark: Theory derivation can be seen in cs685-icp.pdf P8

How to use:

  1. open demo.m, and run it.
  2. you can replace P_ori and X_ori with any other datasets. Remember, P->X_ori, so rotation matrix and translation vector are imposed to P.

Result:

Initial Position

Iteration One

Iteration Five

Iteration Ten

Iteration Twenty

Iteration Fifty

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