3D point cloud registration

A software I wrote to stitch together point clouds. The user selects at least 3 corresponding points between the two scans and the software calculates the optimal transformation using the Trimmed Iterative Closet Point algorithm (TrICP). The source code is available from my homepage.

Category:

Science & Technology

Tags:

• Iterative Closest Point
• ICP

[DuyTw]

Pretty impressive, can you send me your source code; i'm trying to implement it but could not get good result so far. My email: duynh1986@gmail

[nghiaho12]

@DuyTw You can download it from my homepage

[rezarezaii]

3 first points should be selected exactly or good approximation is enough? which method you use? ICP? if yes im searching ICP's Matlab codes. do you have it? Thanks in advance.

[nghiaho12]

I use TrICP (Trimmed ICP).Sorry, I wrote it in C++, no Matlab code. The actual implementation is not too difficult, deciphering the academic papers can be :) If you get stuck trying to implement it give me an email.

I always try to select 3 point as accurately as possible, easy to do with a GUI. ICP is meant to work with a good approximation. I encountered some ill-conditioned results with 3 points on rare occasions (limitation/bad programming?). Dont know why, but using 4 point works so far.

[nghiaho12]

Also, if you are working on a large point cloud, then it is necessary to use a nearest-neighbour library to speed up search. Else you'll be waiting for hours ... because the simple brute force searching is O(N^2)

[n8craig]

Is there any access to this tool? I would very much like to use it. Thank you. Nathan

[RobotCentral]

This is very cool. How are each of the two scans created?