Iterative Closest Point (Scripts) Publisher's description
from Jakob Wilm
The ICP algorithm takes two point clouds as an input
The ICP algorithm takes two point clouds as an input and return the rigid transformation (rotation matrix R and translation vector T), that best aligns the point clouds.
[R,T] = icp(q,p,10);
Aligns the points of p to the points q with 10 iterations of the algorithm.
The transformation is then applied using
R*p + repmat(T,1,length(p));
The file has implemented both point to point and point to plane as well as a couple of other features such as weighting functions, edge point rejection, winsorising, etc.
For an introductory text on the ICP algorithm and the implemented variants, see http://www.imm.dtu.dk/English/Research/Pub...ommon&id=262855
Hans Martin Kjer & Jakob Wilm -- Evaluation of surface registration algorithms for PET motion correction
System Requirements:MATLAB 7.10 (2010a)
Program Release Status: Major Update
Program Install Support: Install and Uninstall