Stable Sampling of Point Clouds for ICP Registration
The function implements the sampling strategy of Geometrically Stable Sampling for the ICP Algorithm
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This function implements the point sampling strategy from Gelfand et. al. 2003. The algorithm targets a point cloud sampling of the model for registration using the ICP algorithm. The method is described in the paper "Geometrically Stable Sampling for the ICP Algorithm", 3DIM 2003. The idea is to sample the points by constraining the eigenvectors of the covariance matrix of the torque and force. The details and relation to the paper are given in the comments.
The test function requires Gabriel Peyré's read_ply m-file in here:
http://www.mathworks.com/matlabcentral/fileexchange/5355-toolbox-graph/content/toolbox_graph/read_ply.m
Cite As
Tolga Birdal (2026). Stable Sampling of Point Clouds for ICP Registration (https://www.mathworks.com/matlabcentral/fileexchange/47138-stable-sampling-of-point-clouds-for-icp-registration), MATLAB Central File Exchange. Retrieved .
Acknowledgements
Inspired by: ICP Registration using Efficient Variants and Multi-Resolution Scheme
Inspired: ICP Registration using Efficient Variants and Multi-Resolution Scheme
General Information
- Version 1.3.0.0 (201 KB)
MATLAB Release Compatibility
- Compatible with any release
Platform Compatibility
- Windows
- macOS
- Linux
