Open3d uses GICP to register point clouds

One 、 Algorithm principle

1、 Description of algorithm

  GICP Algorithm , The principle is that the ICP Algorithm and Point-to-plane ICP Combined with the probability framework model , Point cloud registration based on this framework , The covariance matrix plays a role similar to weight , Eliminate the role of some bad corresponding points in the solution process .GICP Comparison standard ICP It's more applicable , At the same time, under specific conditions GICP Algorithm degenerates into standard ICP Algorithm . At the same time, if there is a unique solution , Then the minimum point is the global optimal solution ,GICP Algorithm degenerates into standard ICP Algorithm .

This blog has a talk about the principle of the algorithm