Stable Sampling of Point Clouds for ICP Registration
The function implements the sampling strategy of Geometrically Stable Sampling for the ICP Algorithm
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This function implements the point sampling strategy from Gelfand et. al. 2003. The algorithm targets a point cloud sampling of the model for registration using the ICP algorithm. The method is described in the paper "Geometrically Stable Sampling for the ICP Algorithm", 3DIM 2003. The idea is to sample the points by constraining the eigenvectors of the covariance matrix of the torque and force. The details and relation to the paper are given in the comments.
The test function requires Gabriel Peyré's read_ply m-file in here:
http://www.mathworks.com/matlabcentral/fileexchange/5355-toolbox-graph/content/toolbox_graph/read_ply.m
Citation pour cette source
Tolga Birdal (2026). Stable Sampling of Point Clouds for ICP Registration (https://fr.mathworks.com/matlabcentral/fileexchange/47138-stable-sampling-of-point-clouds-for-icp-registration), MATLAB Central File Exchange. Extrait(e) le .
Remerciements
Inspiré par : ICP Registration using Efficient Variants and Multi-Resolution Scheme
A inspiré : ICP Registration using Efficient Variants and Multi-Resolution Scheme
Informations générales
- Version 1.3.0.0 (201 ko)
Compatibilité avec les versions de MATLAB
- Compatible avec toutes les versions
Plateformes compatibles
- Windows
- macOS
- Linux
| Version | Publié le | Notes de version | Action |
|---|---|---|---|
| 1.3.0.0 | Removed redundant ack. |
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| 1.2.0.0 | Updated file to also return the normals.
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| 1.1.0.0 | Removed the read_ply (you have to download it separately). So also removed the unrelated acknowledgement. |
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| 1.0.0.0 |
