topic Re: Point Cloud Alignment with Iterative Closest Point (ICP) in Discussions

Point Cloud Alignment with Iterative Closest Point (ICP)

Djtjhin — Sat, 10 Jun 2023 20:48:23 GMT

Hi JMP Community! I wonder if there has been any development around Point Cloud Alignment with Iterative Closest Point in JMP (JSL). I've been trying to find past articles or works around this topic but couldn't find any. Perhaps the community can help point me to a good reference.

Thanks!

Happy New Year !

Re: Point Cloud Alignment with Iterative Closest Point (ICP)

ian_jmp — Wed, 05 Jan 2022 12:17:23 GMT

Regarding 'Perhaps the community can help point me to a good reference' then I found this a nice explanation of ICP. Further searching shows that there are alternative approaches to ICP for point cloud alignment that may be 'better' in some circumstances. FWIW, I personally haven't seen anyone using ICP in JMP (but that doesn't mean it hasn't been done!). Looks like the essence of a good implementation is singular value decomposition, so I would expect it's perfectly possible in JSL, and maybe not too much work. But, depending on your situation, constraints and knowledge, a native JMP implementation may not provide the path of least resistance. For instance, you could try to use JMP's Python integration with this (or another) approach.

Re: Point Cloud Alignment with Iterative Closest Point (ICP)

Craige_Hales — Wed, 05 Jan 2022 14:17:49 GMT

I'm going to revisit some day, now that I know the name of the algorithm I was looking for! (I used a brute force annealing algorithm that was very slow...minutes per picture, as I recall.)