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icp-methods-comparision's Introduction

ICP-Methods-Comparision

Hey, I have made a comparision between all ICP based laser scan-matching methods in detail (including ICP, PL-ICP, NICP, IMLS-ICP):

  • You can see my document:
    ICP-Methods-Comparision/ICP_Methods_Compare.pdf
  • The papers I have referenced, please see the folder:
    ICP-Methods-Comparision/papers
  • An simple implementation of the method "IMLS-ICP"，please see:
    ICP-Methods-Comparision/imlsMatcherProject
  • In future,the Correlative Scan-Matching (CSM) will also be added, for getting a robuster pose estimate result.

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