Point to Point ICP

Point-to-point Iterative Closest Point (ICP) algorithms aim to estimate the relative pose (position and orientation) between two 3D point clouds by iteratively minimizing the distance between corresponding points. Current research focuses on improving ICP's robustness and efficiency through enhancements like semantic information integration (e.g., using road markings or object labels), optimized data sampling strategies to reduce computational load, and the incorporation of additional sensor data such as Doppler velocity measurements to address challenges in feature-poor environments. These advancements are crucial for applications like autonomous driving, robotics, and 3D modeling, enabling more accurate and reliable pose estimation in real-time.