Iterative Closest Point (ICP) Matching

This is a 2D ICP matching example with singular value decomposition.

It can calculate a rotation matrix and a translation vector between points to points.

https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/SLAM/iterative_closest_point/animation.gif

Code Link

SLAM.ICPMatching.icp_matching.icp_matching(previous_points, current_points)[source]: Iterative Closest Point matching - input previous_points: 2D or 3D points in the previous frame current_points: 2D or 3D points in the current frame - output R: Rotation matrix T: Translation vector

References

Introduction to Mobile Robotics: Iterative Closest Point Algorithm