ICP

Iterative closest point (ICP) for 2D laser scan matching. This repo is a Matlab version of the Python notebook: https://nbviewer.org/github/niosus/notebooks/blob/master/icp.ipynb . In addition, demos using real-world RP Lidar measurements are included.

Contents:

• Data generation/loading
• ICP using Singular Value Decomposition (SVD)
• ICP using Least Squares (point-to-point correspondences)
• ICP using Least Squares (point-to-plane correspondences)

Data generation/loading

For sample data, you can either simulate data points or load real-world 2D Lidar data collected using RP-LIDAR.

demo_data_simulation.m 
demo_lidar_scans.m

ICP - singular value decomposition (SVD)

demo_ICP_SVD.m

ICP - least squares (point-to-point)

demo_lCP_LS.m

ICP - least squares (point-to-plane)

demo_ICP_LS_normal.m