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README.md

Iterative Probabilistic Data Association (IPDA)

Robust Point Cloud Registration Using One-To-Many Iterative Probabilistic Data Associations ("Robust ICP"). Contains wrappers for ICP, GICP, NDT as well as the source code for IPDA.

Authors

Maintainers

Getting started

Citing

The Iterative Probabilistic Data Association algorithm was introduced by the following paper:

G. Agamennoni, S. Fontana, R. Y. Siegwart and D. G. Sorrenti "Point Clouds Registration with Probabilistic Data Association", in International Conference on Intelligent Robots and Systems (IROS), 2016.

@INPROCEEDINGS{agamennoniIROS16,
   Author = {G. Agamennoni, S. Fontana, R. Y. Siegwart and D. G. Sorrenti},
   Title = {Point Clouds Registration with Probabilistic Data Association},
   Booktitle = {Proc. of The International Conference on Intelligent Robots and Systems (IROS)},
   Year = {2016}
}

The algorithm was successfully employed in the following publication:

T. Hinzmann, T. Stastny, G. Conte, P. Doherty, P. Rudol, M. Wzorek, E. Galceran, R. Siegwart, I. Gilitschenski "Collaborative 3D Reconstruction using Heterogeneous UAVs: System and Experiments", in The 15th International Symposium on Experimental Robotics (ISER), 2016.

@inproceedings{iser_2016_hinzmann,
  author    = {Timo Hinzmann and Thomas Stastny and Gianpaolo Conte and Patrick Doherty and Piotr Rudol and Marius Wzorek and Enric Galceran and Roland Siegwart and Igor Gilitschenski},
  title     = {Collaborative 3D Reconstruction using Heterogeneous UAVs: System and Experiments},
  booktitle = {Experimental Robotics - The 15th International Symposium on Experimental
               Robotics, {ISER} 2016, October 3-6, 2016, Tokyo, Japan},
  year      = {2016},
}

项目简介

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源项目地址

https://github.com/ethz-asl/robust_point_cloud_registration

发行版本

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贡献者 1

T Timo Hinzmann @Timo Hinzmann

开发语言

  • C++ 97.9 %
  • CMake 2.1 %