[Playerstage-users] ICP variants in MRICP?

[L4L <liv...@ya...>]

Hi,

First, I would like to apologize if this is not the right place to post this
kind of question.

Currently, I’m trying to practice ICP algorithm for SLAM. For that I already
decided to use your developed software MRICP as the basic. However, I have a
difficulty to understanding the ICP in the MRICP.
In my knowledge, ICP can be varying according to this 6 stage:
1.  Selection of some set of points
2.  Matching these points
3.  Weighting the corresponding pairs
4.  Rejecting pairs
5.  Assigning an error metric
6.  Minimizing error metric
 
I hope someone can tell me the variants used in the MRICP, so that I can
understand how the ICP in MRICP work.
 
Regard,
Razin.
liv...@ya...
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