pcl_registration_demo

Brief introduction

A demo for point cloud registration, is a part of the presentation in Fundamentals of Artificial Intelligence (2022) MUST.

Usage

## 1. Install dependencies
# for Ubuntu
sudo apt install build-essential cmake git libpcl-dev -y

## 2. clone source code
git clone https://github.com/ZHWKnight/pcl_registration_demo_must_2022.git

## 3. Complie
cd pcl_registration_demo_must_2022
mkdir build && cd build
cmake ..
make

## 4. Run
# parameter: ply model file, iteration every time.
./interactive_icp_registration monkey_head.ply 1
./normal_distributions_transform

Reference materials

PCL

PointCloudLibrary

ICP

Paul J. Besl and Neil D. McKay. A method for registration of 3-D shapes. IEEE Transactions on Pattern Analysis and Machine Intelligence, 14(2): 239 – 256, February 1992.

Yang Chen and Gérard Medioni. Object modelling by registration of multiple range images. Image and Vision Computing, 10(3):145–155, April 1992.

NDT

Peter Biber and Wolfgang Straßer. The normal distributions transform: A new approach to laser scan matching. In Proceedings of the IEEE In- ternational Conference on Intelligent Robots and Systems (IROS), pages 2743–2748, Las Vegas, USA, October 2003

Magnusson, Martin (2009). The three-dimensional normal-distributions transform: an efficient representation for registration, surface analysis, and loop detection (Ph.D.). Örebro universitet