ICP 算法步骤

The Iterative Closest Point (ICP) is an algorithm employed to match two surface representations, such as points clouds or polygon meshes.

 

 

 

Method 1

Optimal transformation:

 

R represented by Euler angles (3 degrees of freedom)

 

 

 

 

 

 

 

 

 

 

 

 

Method 2

 

 

 

 

 

 

References:

1. Exercise 2: 3D Surface Registration

2. Build Your Own 3D Scanner: 3D Photography for Beginners