Iterative Closest Point

A Python implementation of the Iterative closest point algorithm for 2D point clouds, based on the paper "Robot Pose Estimation in Unknown Environments by Matching 2D Range Scans" by F. Lu and E. Milios.

Requirements

The required packages can be installed by executing:

python -m pip install -r requirements.txt

Example

An example of usage is given in the examples directory.

Note that the example is assuming that the directory containing the provided module (i.e. icp.py) is on sys.path.