Stable Sampling of Point Clouds for ICP Registration

Version 1.3.0.0 (201 KB) by Tolga Birdal
The function implements the sampling strategy of Geometrically Stable Sampling for the ICP Algorithm
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1.5K Downloads
Updated 7 Jul 2014

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This function implements the point sampling strategy from Gelfand et. al. 2003. The algorithm targets a point cloud sampling of the model for registration using the ICP algorithm. The method is described in the paper "Geometrically Stable Sampling for the ICP Algorithm", 3DIM 2003. The idea is to sample the points by constraining the eigenvectors of the covariance matrix of the torque and force. The details and relation to the paper are given in the comments.
The test function requires Gabriel Peyré's read_ply m-file in here:
http://www.mathworks.com/matlabcentral/fileexchange/5355-toolbox-graph/content/toolbox_graph/read_ply.m

Cite As

Tolga Birdal (2024). Stable Sampling of Point Clouds for ICP Registration (https://www.mathworks.com/matlabcentral/fileexchange/47138-stable-sampling-of-point-clouds-for-icp-registration), MATLAB Central File Exchange. Retrieved .

MATLAB Release Compatibility
Created with R2012b
Compatible with any release
Platform Compatibility
Windows macOS Linux

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Version Published Release Notes
1.3.0.0

Removed redundant ack.
1.2.0.0

Updated file to also return the normals.
Edited description.
1.1.0.0

Removed the read_ply (you have to download it separately). So also removed the unrelated acknowledgement.
1.0.0.0