Is it convenient to share information about the theory of code implementation? Thank you!
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githublqs commented
Is it convenient to share information about the theory of code implementation? Thank you!
yulongshan commented
references:
1.An ICP variant using a point to line metric —— pl-icp theory
2.An accurate closed-form estimate of ICP'S covariance - covariance estimate
3. A Closed-form Estimate of 3D ICP Covariance - extend 2d to 3d and it has opensource code in github.
4.Observability, Covariance and Uncertainty of ICP Scan Matching - Observability.
And there is CSM package in Andrea Censi personal website which contains pl-icp and covariance code.
I hope these references can help you! and if you come from china. you can also see my blog https://zhuanlan.zhihu.com/p/367705790.
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githublqs commented
感谢!