ICP fails with two much rays

[Hugal31]

Hello,

First of all, I would like to thank you for your work on the PLICP CSM library, and putting it open source. I am integrating it in our software after reading High-accuracy vehicle localization for autonomous warehousing by Goran Vasiljević et al., it has been a great help !

However, I have some questions about some behavior of your library. I have joined two set of data, describing a simple "room" with two perpendicular walls.

• open_room_70.* has two scans of 70 samples each (50 rays hit a wall and are valid).
• open_room_72.* has two scans of 72 samples each (51 rays hit a wall and are valid).

In each case, the reference scan is 50cm from each wall, and the sensor scan is 1cm farther from one wall, with a bit of noise added. In the case with 70 samples, the algorithm succeed (it also works with less than 70 samples), but with 72 samples or more, the algorithm fails to converge. Note that if the room is closed, the algorithm has no problem converging no matter the number of samples.

The .json files contains the inputs. The .jj files have been obtain using sm2 with the default parameters.

Is this an expected behavior for this algorithm ? If yes, why ? If no, is this a bug, or an issue with the other parameters ?

open_room_tests.zip