Rank: 658 based on 191 downloads (last 30 days) and 1 file submitted
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Jakob Wilm

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Company/University
Technical University of Denmark
Lat/Long
55.67631, 12.569355

Personal Profile:

PhD-student in Medical Image Computing

Professional Interests:
medical image analysis

 

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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 191 46
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4.7 | 23 ratings
Comments and Ratings by Jakob View all
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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's Files View all
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20 Jun 2014 Iterative Closest Point An implementation of various ICP (iterative closest point) features. Author: Jakob Wilm Francesco

Jakob, thank you for your answer in such short time.
I found that in my case of study kD-tree may be the best choice.
I'm actually trying to check how the algorithm is working on my clouds: is there a way to visulize the points that the algorithm choose as corresponding points on the two clouds?

thank you

13 Jun 2014 Iterative Closest Point An implementation of various ICP (iterative closest point) features. Author: Jakob Wilm Wilm, Jakob

@ 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.

13 Jun 2014 Iterative Closest Point An implementation of various ICP (iterative closest point) features. Author: Jakob Wilm Francesco

Which options are recommended to maximize speed of the algorithm?

Thank you.

13 May 2014 Iterative Closest Point An implementation of various ICP (iterative closest point) features. Author: Jakob Wilm S, N

Hey jakob, someone asked similar question before but i would like to ask it again for my own purpose. Is it possible to have your icp algorithm constrained to only translation and also constrained to only translation in a specific direction? Regards,N.S

12 May 2014 Iterative Closest Point An implementation of various ICP (iterative closest point) features. Author: Jakob Wilm S, N

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