Iterative Closest Point (ICP) - 5 Minutes with Cyrill

Cyrill Stachniss
Cyrill Stachniss
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Published 2020-05-09
Iterative Closest Point (ICP) explained in 5 minutes
Series: 5 Minutes with Cyrill
Cyrill Stachniss, 2020

Link to Jupyter Notebook:
nbviewer.jupyter.org/github/niosus/notebooks/blob/…

Credits:
Video by Cyrill Stachniss
Images by Igor Bogoslakvskyi
Thanks to Igor Bogoslakvskyi and Olga Vysotska
Intro music by The Brothers Records
All Comments (21)
  • @micmacha
    You explained in five minutes what might have taken hours just using available documentation. Thanks for that.
  • @jayram78
    Honestly, best explanation that gives a holistic picture on various ICP approaches. Not easy to get such big picture from all the overloaded papers and materials available in the net. These talks gives a excellent starting point to jump ahead and not get lost in the forest of materials. Best initial seed sir. Thank you so much Cyrill.
  • @submagr
    Thanks Cyrill. I found huge pdf files for ICP before watching this video. Your explanation is so good and simple!
  • @abielalgravez2158
    I'm watching this to prepare for my PhD comprehension exam. Thank you so much! This helps a lot.
  • @sergiobarreramayo3883
    Thanks!, Well done, it's a great, simple and clarifying explanation of a quite complex stuff!
  • @uselessrobotics5383
    Thank you very much ! These are unvaluable ressources, Even better with notebook. Do you plan on releasing a full curriculum, with which chapter to start from ?
  • @nurbekhalikulov8867
    Which algorithm is better to optimize here? SVD based ICP or Non-linear Least square based ICP?
  • @francoispion-drancy7394
    I wonder that all your code sample is working quite perfectly (except to use "animate_results" which need a small function to write html code and then to open it with Chrome). Do you think it is possible to translate that in NodeJs ? Or it will better to call Python from it ?
  • @dca-lorenzojaviergranilloc1791
    Hello, I am trying to implement the Iterative Matching Range Point (IMRP) algorithm to later implement Iterative Dual Correspondence (IDC), but I have had some problems. Do you have any base code to implement IMRP? Greetings and I hope you are very well
  • @riadhdhaoui1239
    Thank you very much for the amazing helpful explanation. I have tried many time to use ICP for the alignment of ground truth map and SLAM generated map(jpg files)but with out success. How can I use the Jupiter code to do this alignment. I mean how can I import the tow images to in that code to apply ICP . I appreciate your support 😊. Thank you