ICP registration of NCLT Dataset with PCL

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Dataset: Nicholas Carlevaris-Bianco, Arash K. Ushani, and Ryan M. Eustice, University of Michigan North Campus Long-Term Vision and Lidar Dataset, International Journal of Robotics Research, 2016.

Code based on work from: Radu Bogdan Rusu, Raphael Favier
  1. Chris Sketch
  2. pcl
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ICP registration of 0:00:30

ICP registration of NCLT Dataset with PCL

NCLT Dataset Visualisation 1:33:01

NCLT Dataset Visualisation

Point Cloud Registration 0:00:48

Point Cloud Registration Using PCL

ICP point cloud 0:02:08

ICP point cloud registration

Iterative Closest Point 0:00:22

Iterative Closest Point (ICP): comparison of point-to-point and point-to-plane error metric

LiDAR frame to 0:03:54

LiDAR frame to frame odometry test (using PCL default normal ICP)

NOctoSLAM with DFKI 0:02:02

NOctoSLAM with DFKI data set

NOctoSLAM with KITTI 0:01:11

NOctoSLAM with KITTI data set

ICP PCL alignment 0:03:06

ICP PCL alignment

ICP PCL 0:01:15

ICP PCL

Circuit reconstruction and 0:00:38

Circuit reconstruction and drift corretion using FGR, Multiscale GICP, g2o, SLERP and LUM models.

AA-ICP: Iterative Closest 0:02:55

AA-ICP: Iterative Closest Point with Anderson Acceleration

ICP Based fusion 0:00:18

ICP Based fusion of Point Clouds generated by stereo matching

Point Cloud Registration 0:02:34

Point Cloud Registration + Moving Points Removal + Decimation

EIVA NaviSuite - 0:05:13

EIVA NaviSuite - NaviModel – Point cloud registration

Iterative Registration of 0:01:10

Iterative Registration of Sequential Point Cloud Files

Velodyne Registration + 0:00:27

Velodyne Registration + Object Removal + Downsampling Full Route

PCLonlineICP 0:02:19

PCLonlineICP

NaviModel 4 Pointcloud 0:02:19

NaviModel 4 Pointcloud Registration

GPU ICP 0:02:32

GPU ICP

Point Cloud Registration 0:03:05

Point Cloud Registration Result

Lecture 16-Point Cloud 1:41:51

Lecture 16-Point Cloud Registration I

PCL ICP Output 0:00:49

PCL ICP Output Transformation Matrix Accuracy Varies Based on YAW

ICP-SLAM: H2 0:02:31

ICP-SLAM: H2