Iterative Closest Point Method

ICP fit points in data to the points in model.

Description

ICP fit points in data to the points in model. Fit with respect to minimize the sum of square errors with the closest model points and data points.

   Ordinary usage:

   [R, T] = icp(model,data)

   INPUT:
 
   model - matrix with model points,
   data - matrix with data points,

   OUTPUT:

   R - rotation matrix and
   T - translation vector accordingly
       so

       newdata = R*data + T .

newdata are transformed data points to fit model

see help icp for more information

• MATLAB release: MATLAB 6.0 (R12)

[Tahir Yaqub]

Hi Bergstorm
When i run the program, following error comes:
Error in ==> icp at 275
icp_struct(tes_flag); % construct a Delaunay tesselation and two vectors make it easy to find in Tes

[Tahir Yaqub]

The error message is quite long but the last line is mentioend in my previous message and first is this:
??? qhull precision error: initial facet 1 is coplanar with the interior point
ERRONEOUS FACET:

While executing: | qhull d Qt Qbb Qc

[J. Lincoln Carpenter]

There could be more comments, especially for some of the alternate input arguements. But on the whole it's a well written and useful m-file for optimization and image registration.

[erol seke]

Did not handle scaling. Fails with large rotations and/or translations. Otherwise ok.
Note: I tested only with 2D data.

[ray dury]

ICP algo give good results only if we are near a good matching.

You may prefer other methods to approach the solution.

Before than use ICP algo.

There are stochastic ICP that solve this problem.

This code is good, use it without risk

[Syed Islam]

 

[Louis Tang]

This programe is quite good. It's the implementation of the original ICP algorithm. the only deficiency is that it only supports input model and data point set with the same dimension.

[Jurandir Junior]

 

[asadi]

Hi I can't download icp.rar from this page. can anyone send it for me ?
Thanks alot
[e-mail]

[Brian Chuang]

Hi, Thanks for this code

One quick question:

Should the new fitted points be
newdata = R*data - T instead of +T as commented in the code?

[Dimitrios Skarlatos]

Hi.
Does the code works for full 3D objects or only in 2.5D ?
By 2.5D i mean surfaces that can only handle one Z value for every X,Y
Thanks

[Yuksel]

I run the program for 3D data. I used 'model' and 'data' with different sizes and it worked. However, there are about 1-1.5 m differences in z values after gridding the data sets. I also would like to know what is the reference for the program. Thank you.

[Huang Chun-Hsiang]

 

[Huang Chun-Hsiang]

Good code !! Thank you.

[Petter]

 

[Lu Jin]

cp_struct(tes_flag); % construct a Delaunay tesselation and two vectors make it easy to find in Tes

[Thai Nguyen]

Dear Per,
I have run your source codes in Visual C++ 2008 and use the the same data and model for testing in C++, but the results from C++ are different in comparison with from icp_demo.m. When I re-calculate the new data by applying the rotation matrix and translation vector which I have obtained from C++, the plotting of new-data and model points are not match. Could you tell me what reasons? (P/S: my email is [e-mail], if possible please directly send your answers via my email). Thank you very much!
Best regards,
Nguyen Van Thai
AOI Lab

[Daniel]

Is there any literature describing this particular algorithm? Is it based on Besl and McKay (1992), or is this a different implementation?
[e-mail]
Thanks.

[Yuan Billy]

 

[Mithun]

Can you please explain how the err function is working in this?