<li>Fall 2010: <ahref='http://www.ros.org/wiki/canonical_scan_matcher'>CSM has been integrated and packaged</a> for <ahref='http://www.ros.org/'>ROS</a> by <ahref='http://robotics.ccny.cuny.edu/blog/People/Dryanovski'>Ivan Dryanovski</a>.</li>
<li>
<p>Fall 2010: <ahref='http://www.ros.org/wiki/canonical_scan_matcher'>CSM has been integrated and packaged</a> for <ahref='http://www.ros.org/'>ROS</a> by <ahref='http://robotics.ccny.cuny.edu/blog/People/Dryanovski'>Ivan Dryanovski</a>.</p>
<h3id='overview'>Overview</h3>
</li>
</ul>
</ul>
<p>This is a pure C implementation of a very fast variation of ICP using a point-to-line metric optimized for range-finder scan matching.</p>
<p>author = “Censi, Andrea”, doi = “10.1109/ROBOT.2008.4543181”, title = “An {ICP} variant using a point-to-line metric”, url = “http://purl.org/censi/2007/plicp”, booktitle = “Proceedings of the {IEEE} International Conference on Robotics and Automation ({ICRA})”, year = “2008”, month = “May”, slides = “http://purl.org/censi/research/2008-icra-plicp-slides.pdf”, address = “Pasadena, CA”, pdf = “http://purl.org/censi/research/2008-icra-plicp.pdf”, abstract = “This paper describes PLICP, an ICP (Iterative Closest/Corresponding Point) variant that uses a point-to-line metric, and an exact closed-form for minimizing such metric. The resulting algorithm has some interesting properties: it converges quadratically, and in a finite number of steps. The method is validated against vanilla ICP, IDC (Iterative Dual Correspondences), and MbICP (Metric-Based ICP) by reproducing the experiments performed in Minguez et al. (2006). The experiments suggest that PLICP is more precise, and requires less iterations. However, it is less robust to very large initial displacement errors. The last part of the paper is devoted to purely algorithmic optimization of the correspondence search; this allows for significant speed-up of the computation. The source code is available for download.” }</p>
</code></pre>
</pre>
</p><divclass='desc'><p>
<p>
<p>An extremely fast and precise ICP variant for range-finder scan matching, which converges quadratically in a finite number of steps.</p>
</p>
<ahref='http://purl.org/censi/2007/plicp'>
<p>
<p>The implementation is available</p>
</p>
</a>
<p>
<p>and included also in ROS.</p>
</p>
</p>
</div>
</div>
<p>The package also contains two methods for estimating the uncertainty of scan matching. Those are described in the following papers:</p>
pdf = "http://purl.org/censi/research/2008-icra-plicp.pdf",
abstract = "This paper describes PLICP, an ICP (Iterative Closest/Corresponding Point) variant that uses a point-to-line metric, and an exact closed-form for minimizing such metric. The resulting algorithm has some interesting properties: it converges quadratically, and in a finite number of steps. The method is validated against vanilla ICP, IDC (Iterative Dual Correspondences), and MbICP (Metric-Based ICP) by reproducing the experiments performed in Minguez et al. (2006). The experiments suggest that PLICP is more precise, and requires less iterations. However, it is less robust to very large initial displacement errors. The last part of the paper is devoted to purely algorithmic optimization of the correspondence search; this allows for significant speed-up of the computation. The source code is available for download."
}
</pre>
</p><divclass='desc'markdown='0'><p>An extremely fast and precise ICP variant for range-finder scan matching,
which converges quadratically in a finite number of steps.
<ahref="http://purl.org/censi/2007/plicp">The implementation is available</a> and included also in ROS.</p>
</div>
</div>
The package also contains two methods for estimating the
uncertainty of scan matching. Those are described in the following papers:
### Download ###
### Download ###
...
@@ -24,7 +61,6 @@ The C(anonical) Scan Matcher
...
@@ -24,7 +61,6 @@ The C(anonical) Scan Matcher
Please see the manual contained in "csm_manual.pdf". See below for a quick description.
Please see the manual contained in "csm_manual.pdf". See below for a quick description.
**What is this.** I created this package:
**What is this.** I created this package:
- To have a well-documented reference implementation of [PL-ICP](http://purl.org/censi/2007/plicp). If you are only interested in the core algorithm of PL-ICP, a [separate concise implementation in C/Matlab/Ruby](http://purl.org/censi/2007/gpc) is available.
- To have a well-documented reference implementation of [PL-ICP](http://purl.org/censi/2007/plicp). If you are only interested in the core algorithm of PL-ICP, a [separate concise implementation in C/Matlab/Ruby](http://purl.org/censi/2007/gpc) is available.
...
@@ -51,7 +87,6 @@ Other related projects are [Carmen] and [Stage].
...
@@ -51,7 +87,6 @@ Other related projects are [Carmen] and [Stage].
[stage]:http://playerstage.sourceforge.net/
[stage]:http://playerstage.sourceforge.net/
-----------
-----------
Please link to this page using the url <http://purl.org/censi/2007/csm>.
Please link to this page using the url <http://purl.org/censi/2007/csm>.
