几种主要的点云配准算法和开源软件库

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

• slam6D
  http://slam6d.sourceforge.net/

• libicp
  http://www.cvlibs.net/software/libicp/

• libpointmatcher
  https://github.com/ethz-asl/libpointmatcher

• g-icp
  https://github.com/avsegal/gicp

• nicp
  http://jacoposerafin.com/nicp/

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.