Implementation of Iterative Closest Point and Trimmed Iterative Closest Point algorithms.
| Initial, 10° rotation around the z axis to displace one of the LionScan pointclouds. | Initial, 20° rotation around the z axis to displace one of the LionScan pointclouds. |
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| After using ICP to register the 2 LionScan pointclouds. (10°) | After using TrICP to register the 2 LionScan pointclouds. (10°) |
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| After using ICP to register the 2 LionScan pointclouds. (20°) | After using TrICP to register the 2 LionScan pointclouds. (20°) |
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Angular rotation error = arccos((Tr(R'*Rgroundtruth) - 1) / 2)
| Name | Angular rotation error | Translation MSE | MSE | Runtime |
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| ICP (10°) | 43.61895188360379° | 42.12371448351258 | 5.14622 | 33.2789 s |
| TrICP (10°) | 12.074753762145663° | 5.3375604492657045 | 2.24015 | 10.1002 s |
| ICP (20°) | 43.36017013541045° | 38.286774289962146 | 5.14622 | 34.7251 s |
| TrICP (20°) | 18.911658794566836° | 5.331268631078188 | 4.55636 | 13.7501 s |
| Initial, 10° rotation around the z axis to displace one of the fountain pointclouds. | Initial, 20° rotation around the z axis to displace one of the fountain pointclouds. |
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| After using ICP to register the 2 fountain pointclouds. (10°) | After using TrICP to register the 2 fountain pointclouds. (10°) |
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| After using ICP to register the 2 fountain pointclouds. (20°) | After using TrICP to register the 2 fountain pointclouds. (20°) |
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Angular rotation error = arccos((Tr(R'*Rgroundtruth) - 1) / 2)
| Name | Angular rotation error | Translation MSE | MSE | Runtime |
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| ICP (10°) | 6.282617302451196° | 9.00814058823539 | 0.270625 | 24.8517 s |
| TrICP (10°) | 11.218936278870313° | 0.06764219165830683 | 0.00709813 | 13.1458 s |
| ICP (20°) | 26.351965024001462° | 59.101602791646876 | 0.251174 | 63.4932 s |
| TrICP (20°) | 29.45099774151091° | 38.8969257815729 | 0.0238604 | 13.1965 s |
TrICP is more robust to rotations and to incomplete, noisy data. TrICP runs faster than ICP and results in lower MSE values.