Stable Sampling of Point Clouds for ICP Registration

Version 1.3.0.0 (201 KB) von Tolga Birdal
The function implements the sampling strategy of Geometrically Stable Sampling for the ICP Algorithm
5.0
(3)
1,5K Downloads
Aktualisiert 7. Jul 2014

Lizenz anzeigen

This function implements the point sampling strategy from Gelfand et. al. 2003. The algorithm targets a point cloud sampling of the model for registration using the ICP algorithm. The method is described in the paper "Geometrically Stable Sampling for the ICP Algorithm", 3DIM 2003. The idea is to sample the points by constraining the eigenvectors of the covariance matrix of the torque and force. The details and relation to the paper are given in the comments.
The test function requires Gabriel Peyré's read_ply m-file in here:
http://www.mathworks.com/matlabcentral/fileexchange/5355-toolbox-graph/content/toolbox_graph/read_ply.m

Zitieren als

Tolga Birdal (2024). Stable Sampling of Point Clouds for ICP Registration (https://www.mathworks.com/matlabcentral/fileexchange/47138-stable-sampling-of-point-clouds-for-icp-registration), MATLAB Central File Exchange. Abgerufen.

Kompatibilität der MATLAB-Version
Erstellt mit R2012b
Kompatibel mit allen Versionen
Plattform-Kompatibilität
Windows macOS Linux
Kategorien
Mehr zu Point Cloud Processing finden Sie in Help Center und MATLAB Answers

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Version Veröffentlicht Versionshinweise
1.3.0.0

Removed redundant ack.
1.2.0.0

Updated file to also return the normals.
Edited description.
1.1.0.0

Removed the read_ply (you have to download it separately). So also removed the unrelated acknowledgement.
1.0.0.0