Multiview Levenberg-Marquardt ICP

I just open-sourced my project mv-lm-icp. The main ideas are described in the technical paper Multiview ICP. The project was developed as a follow-up to my bachelor’s thesis as a working student at CAMP chair and Siemens CT. I think the code serves as a good example as well as starting point for other projects, demonstrating:

  • how one can use Ceres Solver to model common ICP cost functions easily
  • how to employ different rotation parameterizations
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