# robust_point_cloud_registration

**Repository Path**: xumingkun/robust_point_cloud_registration

## Basic Information

- **Project Name**: robust_point_cloud_registration
- **Description**: Robust Point Cloud Registration Using Iterative Probabilistic Data Associations ("Robust ICP")
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 1
- **Created**: 2020-03-24
- **Last Updated**: 2022-01-22

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# Iterative Probabilistic Data Association (IPDA)
Robust Point Cloud Registration Using One-To-Many Iterative Probabilistic Data Associations ("Robust ICP"). 
Contains wrappers for ICP, GICP, NDT as well as the source code for IPDA.

### Authors
- Simone Fontana (simone.fontana@disco.unimib.it)
- Timo Hinzmann (hitimo@ethz.ch) 
- Gabriel Agamennoni (g.agamennoni@gmail.com)

### Maintainers
- Timo Hinzmann (hitimo@ethz.ch)
![](https://github.com/ethz-asl/ipda/wiki/ipda.png)

# Getting started
- [Dependencies](https://github.com/ethz-asl/robust_point_cloud_registration/wiki/Dependencies)
- [Installation](https://github.com/ethz-asl/robust_point_cloud_registration/wiki/Installation)
- [Samples](https://github.com/ethz-asl/robust_point_cloud_registration/wiki/Samples)
- [Datasets](https://github.com/ethz-asl/robust_point_cloud_registration/wiki/Datasets)
- [Jenkins](http://129.132.38.183:8080/job/robust_point_cloud_registration/)

# Citing
The Iterative Probabilistic Data Association algorithm was introduced by the following paper:

G. Agamennoni, S. Fontana, R. Y. Siegwart and D. G. Sorrenti "[Point Clouds Registration with Probabilistic Data Association](https://github.com/ethz-asl/ipda/wiki/0383.pdf)", in International Conference on Intelligent Robots and Systems (IROS), 2016.

```
@INPROCEEDINGS{agamennoniIROS16,
   Author = {G. Agamennoni, S. Fontana, R. Y. Siegwart and D. G. Sorrenti},
   Title = {Point Clouds Registration with Probabilistic Data Association},
   Booktitle = {Proc. of The International Conference on Intelligent Robots and Systems (IROS)},
   Year = {2016}
}
```

The algorithm was successfully employed in the following publication:

T. Hinzmann, T. Stastny, G. Conte, P. Doherty, P. Rudol, M. Wzorek, E. Galceran, R. Siegwart, I. Gilitschenski "[Collaborative 3D Reconstruction using Heterogeneous UAVs: System and Experiments](http://www.timohinzmann.com/publications/iser_2016_hinzmann.pdf)", in The 15th International Symposium on Experimental Robotics (ISER), 2016.

```
@inproceedings{iser_2016_hinzmann,
  author    = {Timo Hinzmann and Thomas Stastny and Gianpaolo Conte and Patrick Doherty and Piotr Rudol and Marius Wzorek and Enric Galceran and Roland Siegwart and Igor Gilitschenski},
  title     = {Collaborative 3D Reconstruction using Heterogeneous UAVs: System and Experiments},
  booktitle = {Experimental Robotics - The 15th International Symposium on Experimental
               Robotics, {ISER} 2016, October 3-6, 2016, Tokyo, Japan},
  year      = {2016},
}
```