Optimal transformations

Gauss-Newton solver

mp2p_icp::optimal_gauss_newton(): A non-linear iterative solver to find the SE(3) optimal transformation given a set of pairings.

Key features:

  • Supports multiple geometric primitives: point-to-point, point-to-plane, point-to-line, etc.

  • Robust kernels.

  • Optional a priori term.

TO-DO: Write a proper paper with the details!

Horn’s quaternion solver

mp2p_icp::optimal_tf_horn(): The classic Horn’s closed-form optimal quaternion solution. Relies on the implementation in <mrpt/tfest/se3.h>.

OLAE solver

mp2p_icp::optimal_tf_olae(): A novel algorithm that can recover the optimal attitude and translation from a set of point-to-point, line-to-line, and plane-to-plane pairings.

Introduced in [BlancoClaraco19].