A collection of C++ libraries and tools for multi-primitive-to-primitive (MP2P) matching, optimization, ICP-related algorithms, and point-cloud pipeline design. Part of the MOLA project.

How to cite it

mp2p_icp has been used in these papers:

The mola_lidar_odometry system, presented in [BC24]. Formerly, it was used in 2019 in (PDF):

    AUTHOR    = {Jose Luis Blanco-Claraco},
    TITLE     = {A Modular Optimization Framework for Localization and Mapping},
    BOOKTITLE = {Proceedings of Robotics: Science and Systems},
    YEAR      = {2019},
    ADDRESS   = {FreiburgimBreisgau, Germany},
    MONTH     = {June},
    DOI       = {10.15607/RSS.2019.XV.043}