Departement of Mechanical Engineering
f.pomerleau [at] gmail.com
Libpointmatcher is a modular ICP library, useful for robotics and computer vision. A special attention as been made to ensure its speed for real-time application. Its source code is fully documented based on doxygen to provide an easy API to developers.
See the GitHub website for more info: libpointmatcher.
One of the main problems with point-cloud registration solutions is that their efficiency often depends on the application. This package provides a convenient way to tune, test and deploy several registration solutions using the same node. It provides a real-time tracker and mapper in 2D and 3D, based on the libpointmachter and libnabo libraries. This allows a complete configuration of the registration chain through YAML files, see the chain configuration page for a list of modules and their parameters. You can think of this package as the front end of a SLAM system, including everything but loop-closure detection and relaxation.
See the ROS website for more info: ethzasl_icp_mapping.
This group of datasets was recorded with the aim to test point cloud registration algorithms in specific environments and conditions. Special care is taken regarding the precision of the "ground truth" positions of the scanner, which is in the millimeter range, using a theodolite. Some examples of the recorded environments can be seen bellow.
See the dedicated website for more info: ASL Datasets.
F. Pomerleau, F. Colas and R. Siegwart (2015), "A Review of Point Cloud Registration Algorithms for Mobile Robotics", Foundations and Trends® in Robotics: Vol. 4: No. 1, pp 1-104. Publisher link, Download link.