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ICP solver failing to align point clouds on specific input
Aug. 13, 2022, 7:55 p.m. | /u/Kaka_chale_vanka
Computer Vision www.reddit.com
I am trying to align point clouds (generated from depth images taken from TUM-RGBD dataset). I find correspondences using inverse reprojection of depth and calculate residuals using point-to-plane distance metric. There's a gauss-newton solver that solves the non-linear least squares system, and I project the rotation part of the output to SO(3) space - which becomes the rigid-body transform for next iteration : all pretty standard stuff.
I think my solver works on most inputs, but still failing for …
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