Which mathematics are behind pcdownsample: 'nonuniformgrid'

I am using pcdownsample in my master thesis. I would like to know the mathematics behind it or the paper it is based on, in order to cite it in my work.

Does somebody know which mathematics it is based on?

Cheers,

Michael

Answer 1

[the cyclist]

The algorithm and/or references are often in the documentation (in this case, here). But I don't see them there.

If you type

type pcdownsample

you will see a listing of the file. References are often at the top of the file (which you might also able to see with just "help downsample"), and sometimes further down in the midst of the calculation.

I don't have the Computer Vision System Toolbox, so I can't check directly.

Answer 2

[juan david tamayoquintero]

this is the reference, i hope that this reference will be useful to you.

% François Pomerleau, Francis Colas, Roland Siegwart, Stéphane Magnenat, % Comparing ICP variants on real-world data sets, Autonomous Robots, % April 2013, Volume 34, Issue 3, pp 133-148