ICP algorithm have CUDA version?

Question

xiaopeige opened this issue 3 years ago · 3 comments

I found that the ICP algorithm is not GPU accelerated. Does the ICP algorithm have a CUDA version?

Answer 1 · 2022-03-21T01:56:03.000Z

I found that the ICP algorithm is not GPU accelerated.

What does this mean?
All registration algorithms implemented in this library use CUDA.

Answer 2 · 2022-03-21T03:10:47.000Z

Use ICP to find that it takes 10ms to construct 10,000 points of kdtree. I think this is relatively slow. Is there any way to improve it?

Answer 3 · 2022-03-21T03:31:22.000Z

You may need more points than that to benefit from the GPU.
The benchmark is tested with 1 million points, in which case it is about 100 times faster than the CPU.
https://raw.githubusercontent.com/neka-nat/cupoch/master/docs/_static/speedup.png