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Iterative Closest Point Method, C++ 1.0
File ID: 79829

Iterative Closest Point Method, C++ 1.0
Download Iterative Closest Point Method, C++ 1.0http://www.mathworks.comReport Error Link
License: Freeware
File Size: 20.5 KB
Downloads: 502
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Iterative Closest Point Method, C++ 1.0 Description
Description: ICP - Iterative Closest Point algorithm, c++ implementation. Handles only points in R^3. Makes use of a kd-tree for closest-point search. ICP finds the transformation of points in data to fit points in model. Fit with respect to minimize a weighted sum of squares for distances between the data points and the corresponding closest model points.

License: Freeware

Related: Minimize, respect, Model, Transformation, weighted, squares, closest, Distances, finds, Search, c2b2b, Algorithm, Point, Implementation, handles, closestpoint, kdtree

O/S:BSD, Linux, Solaris, Mac OS X

File Size: 20.5 KB

Downloads: 502

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The Fixed Point Method is applied to a given function.

Convergence conditions are as followed:
f(xa)=0 (=) xa=g(xa) => xa[n+1]=g(xn), n=0,1,..
Error majoration:
|e(xk)| <= L^k/(1-L)*|x1-xo|
Choice for inicial aproximation x0:
x0 = middle point of [a,b] = (a+b)/2

ICP fit points in data to the points in model. Fit with respect to minimize the sum of square errors with the closest model points and data points.

Ordinary usage:

[R, T] = icp(model,data)



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