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Possible Issue with Jacobian Function

5

Greetings, The Jacobian function in the icp.ipynb file on line "In [14]" uses the derivative of the rotation matrix at a constant angle of zero rather than the derivative of...

magicbycalvin

Can the ICP iteration be stopped once convergence is achieved?

4

Hi, Since the convergence of data is reached before 5 iteration, can it be stopped to improved to computational time since the data had already been converge. If so, how...

Jiaxin-lim

Greetings, I had a question about estimating the Covariance/Information matrix of the resulting transform in order to use the ICP algorithm as a front end for graph SLAM. I noticed...

magicbycalvin

Fixed bug in correspondences of LS point to plane ICP and made norm(p…

1

Changes: 1. Fixed bug in correspondences of LS point to plane ICP (in function: prepare_system_normals) Changes to: for (i, j) in correspondences: p_point = P[:, [i]] q_point = Q[:, [j]]...

stachnis