ICP算法及其主要变形
Standard ICP
Besl, Paul J., and Neil D. McKay. "A method for registration of 3-D shapes." IEEE Transactions on pattern analysis and machine intelligence 14.2 (1992): 239-256.KD-tree Approximation
Greenspan, Michael, and Mike Yurick. "Approximate kd tree search for efficient ICP." 3-D Digital Imaging and Modeling, 2003. 3DIM 2003. Proceedings. Fourth International Conference on. IEEE, 2003.Soft Outlier Rejection
Rusinkiewicz, Szymon, and Marc Levoy. "Efficient variants of the ICP algorithm." 3-D Digital Imaging and Modeling, 2001. Proceedings. Third International Conference on. IEEE, 2001.Generalized-icp（GICP）
Segal, Aleksandr, Dirk Haehnel, and Sebastian Thrun. "Generalized-ICP." Robotics: science and systems. Vol. 2. No. 4. 2009.Normal ICP（NICP）
Serafin, Jacopo, and Giorgio Grisetti. "NICP: Dense normal based point cloud registration." Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on. IEEE, 2015.Go-ICP
Yang, Jiaolong, et al. "Go-ICP: a globally optimal solution to 3D ICP point-set registration." IEEE transactions on pattern analysis and machine intelligence 38.11 (2016): 2241-2254.
ICP的几个开源库
libpointmatcher
https://github.com/ethz-asl/libpointmatcher
NDT算法
2D-NDT
Biber, Peter, and Wolfgang Straßer. "The normal distributions transform: A new approach to laser scan matching." Intelligent Robots and Systems, 2003.(IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on. Vol. 3. IEEE, 2003.3D-NDT
Magnusson, Martin, Achim Lilienthal, and Tom Duckett. "Scan registration for autonomous mining vehicles using 3D‐NDT." Journal of Field Robotics 24.10 (2007): 803-827.
