Point-to-Plane and Generalized ICP - 5 Minutes with Cyrill

Point-to-Plane and Generalized ICP explained in 5 minutes
Series: 5 Minutes with Cyrill
Cyrill Stachniss, 2021

5 Minute video on ICP:

Credits:
Video by Cyrill Stachniss
Special thanks to Olga Vysotska and Igor Bogoslavskyi
Intro music by The Brothers Records

[mariyanzarev]

As a computer vision engineer, I owe my job to you sir!

[snakesonthebrain]

Just found your work! I am so grateful for all the work you’ve been putting out there. This stuff is very fascinating and you present the content in a very clear and coherent style. Many thanks!

[dmitriim]

So is the assumption of point-to-plane is that our point cloud consists of a set of flat regions, so we might not have the exact pairs of points but we can approximate where the target point would be using region's normal? Does it mean that it would perform much worse if our surface has high curvature?

[paulcaucheteux]

Sorry but nobody is very annoyed with his voice disappearing at each end of sentence ?