ボクセル対応付けGICPアルゴリズム Koide et al., “Voxelized GICP for Fast and Accurate 3D Point Cloud Registration”, ICRA2021 Matching cost: Point residual: GICP: VGICP: Point residual distribution: GICP: Weight (# of points) Mean of points/covs Red: source 𝒂𝒂𝒊𝒊 Blue: target 𝒃𝒃𝒊𝒊 Code: https://github.com/SMRT-AIST/fast_gicp
ボクセル対応付けGICPアルゴリズム Koide et al., “Voxelized GICP for Fast and Accurate 3D Point Cloud Registration”, ICRA2021 Matching cost: Point residual: GICP: VGICP: Point residual distribution: GICP: Weight (# of points) Mean of points/covs Red: source 𝒂𝒂𝒊𝒊 Blue: target 𝒃𝒃𝒊𝒊 Code: https://github.com/SMRT-AIST/fast_gicp ボクセル内の平均分布を 事前計算しておく