ICPt
ICPt stands for Iterative Closest Point with Transformations. It is a widely used algorithm in computer vision and robotics for registering two point clouds. Point clouds are sets of data points in three-dimensional space, often captured by sensors like LiDAR or depth cameras. The goal of ICPt is to find the optimal rigid transformation (rotation and translation) that aligns one point cloud with another, minimizing the distance between corresponding points.
The algorithm works iteratively. It begins with an initial guess of the transformation between the two point
ICPt is sensitive to the initial alignment of the point clouds. If the initial guess is too