# pcregisterloam

Register two point clouds using LOAM algorithm

## Syntax

## Description

registers the moving point cloud `tform`

= pcregisterloam(`movingPtCloud`

,`fixedPtCloud`

,`gridStep`

)`movingPoints`

with the fixed point
cloud `fixedPoints`

using the lidar odometry and mapping (LOAM)
algorithm. The function returns the rigid transformation `tform`

, between
the moving and fixed point clouds. `gridStep`

specifies the size of a
3-D box used to downsample the LOAM points detected in the input point clouds.

registers the moving LOAM points `tform`

= pcregisterloam(`movingPoints`

,`fixedPoints`

)`movingPoints`

with the fixed LOAM
points `fixedPoints`

and returns the rigid transformation between them
`tform`

. Using this function to register LOAM points is faster and more
accurate than using it to register point clouds.

You can obtain the LOAM points of the moving and fixed point clouds by using the
`detectLOAMFeatures`

function, which detects LOAM feature points from organized
point clouds.

`[___] = pcregisterloam(___,`

specifies options using one or more name-value arguments in addition to any combination of
arguments from previous syntaxes. For example,
`Name=Value`

)`MatchingMethod`

=`'one-to-one'`

sets the matching method
algorithm to `'one-to-one'`

.

## Examples

## Input Arguments

## Output Arguments

## References

[1] Zhang, Ji, and Sanjiv Singh.
“LOAM: Lidar Odometry and Mapping in Real-Time.” In *Robotics: Science and Systems
X*. Robotics: Science and Systems Foundation, 2014.
https://doi.org/10.15607/RSS.2014.X.007.

## Version History

**Introduced in R2022a**