ICP: Iterative Closest Point

Python implementation of m-dimensional Iterative Closest Point method. ICP finds a best fit rigid body transformation between two point sets. Correspondence between the points is not assumed. Included is an SVD-based least-squared best-fit algorithm for corresponding point sets.

This repository was initially created as a fork of ClayFlanningan/icp. Many thanks to him and contributors for their work who helped me create my own version of this algorithm.

Dependencies

pip install -r requirements.txt

Study references

• Pyoints: ICP for point cloud alignment
• Open3D: ICP registration