Rank: 350 based on 316 downloads (last 30 days) and 1 file submitted
photo

Jakob Wilm

E-mail
Company/University
Technical University of Denmark
Lat/Long
55.67631, 12.569355

Personal Profile:

PhD-student in Medical Image Computing


 

Watch this Author's files

 

Files Posted by Jakob Wilm
Updated   File Tags Downloads
(last 30 days)
Comments Rating
25 Jan 2013 Screenshot Iterative Closest Point An implementation of various ICP (iterative closest point) features. Author: Jakob Wilm icp, iterative closest poi..., bestfit, registration, matching 316 52
  • 4.79167
4.8 | 29 ratings
Comments and Ratings by Jakob Wilm View all
Updated File Comments Rating
13 Jun 2014 Iterative Closest Point An implementation of various ICP (iterative closest point) features. Author: Jakob Wilm

@ NS: directly this is not possible. Currently, the orthogonal Procrustes problem is solved, and hence a 6DOF transformation found in every iteration. If you have an analytical solution for the constrained case, you could plug that in instead, or use LM-optimization, which allows you to formulate the error function quite freely.
@ Francesco: it depends a bit on your definition of speed. kD-tree is good, and yields the same deterministic output as brute force search. Point to plane is a bit more costly per-iteration, but can yield faster convergence, and hence faster speed. It really depends, I recommend you do timing with your data.

27 Oct 2013 Iterative Closest Point An implementation of various ICP (iterative closest point) features. Author: Jakob Wilm

@arnold: this implementation was coded and tested for 3D data. That said, you might succeed by setting all z-coodinates to one.

21 Sep 2012 Iterative Closest Point An implementation of various ICP (iterative closest point) features. Author: Jakob Wilm

@Tomasz: Thanks for your comment! I have updated the function with your modification. I agree with you that this is a good way to ensure a plausible rotation matrix!

17 Jul 2012 Iterative Closest Point An implementation of various ICP (iterative closest point) features. Author: Jakob Wilm

@Mark Brophy:
Thank you very much for pointing this out. I discovered that the kNearestNeighbors was missing altogether, and that kNN searching is supported only in Stat. Toolbox v. 7.5 or higher.
I added the missing sub function and updated the code, which should be available in about 24 hours.

/Jakob

17 Jul 2012 Iterative Closest Point An implementation of various ICP (iterative closest point) features. Author: Jakob Wilm

@Pietro Pala:
I think you might be mistaking accuracy for robustness.
You are basically trying to register planes, and there is very little chance of converging with your data.
Try:
z(x,y) = 50*exp(-(x-25.0).^2 ./400.0 -(y-25.0).^2 ./400.0);

/Jakob

Comments and Ratings on Jakob Wilm's Files View all
Updated File Comment by Comments Rating
30 Oct 2014 Iterative Closest Point An implementation of various ICP (iterative closest point) features. Author: Jakob Wilm dhara

excellent work and detail description and supported pdf make it soo good....

29 Oct 2014 Iterative Closest Point An implementation of various ICP (iterative closest point) features. Author: Jakob Wilm Sudhanshu Nahata

Very nice and descriptive function. Error plot was icing on the cake!

12 Oct 2014 Iterative Closest Point An implementation of various ICP (iterative closest point) features. Author: Jakob Wilm xiangz ?

Hi! Jakob. When I tried the parameter "weight" and gave a 1xn weight vector, it responsed : w is not a 'function_handle'. Did I get it right that I have to provide a weightting function here? or a weight vector is just enough.

btw, excellent code! thank you very much! It's really inspiring!

Regards!
Brant.

10 Oct 2014 Iterative Closest Point An implementation of various ICP (iterative closest point) features. Author: Jakob Wilm peng

i don't know why i can not preview this content type.

10 Oct 2014 Iterative Closest Point An implementation of various ICP (iterative closest point) features. Author: Jakob Wilm peng

Contact us