mp2p_icp
C++ libraries for multi primitive-to-primitive ICP algorithms and flexible point cloud processing pipelines.
What is mp2p_icp?
mp2p_icp is a C++ library implementing multi primitive-to-primitive Iterative Closest Point (ICP) algorithms for 3D point cloud registration. It solves the problem of accurately aligning point clouds from sensors like LIDAR by matching various geometric primitives (points, planes, lines) rather than just points, leading to more robust alignment in challenging environments. It is a core component used within the MOLA SLAM framework for lidar odometry.
Robotics engineers and researchers working on SLAM, lidar odometry, and 3D mapping who need robust, flexible point cloud registration algorithms. Developers integrating advanced ICP capabilities into C++-based perception or mapping pipelines, particularly within ROS/ROS 2 ecosystems.
Developers choose mp2p_icp for its advanced multi-primitive matching capabilities, which provide superior robustness and accuracy compared to standard point-to-point ICP. Its comprehensive suite of processing filters, solvers, and practical command-line tools offers a complete, production-ready solution for point cloud alignment and manipulation.
Overview
Multi primitive-to-primitive (MP2P) ICP algorithms in C++
Use Cases
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