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CoBigICP: Correntropy based Bidirectional Generalized ICP#

CoBigICP is a fast and accurate point cloud registration method, currently implemented in MATLAB.

About

*Reconstruction results of ETH Hauptgebaude generated by CoBigICP and GICP. Estimated aligned point cloud are colored, with the ground truth being white.*

For more information, please refer to our paper:

  • An uncompleted task

Two consecutive point cloud frames from ETH Hauptgebaude are already loaded so if you wanna have a brief look at the algorithm, simply run CoBigICP_fun.m.

Acknowledgements