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3d_reconstruction-icp's Introduction

3D Reconstruction based on Iterative Closest Point (ICP)

UPenn ESE 650 Learning in Robotics, Final Project. Implemented efficient Iterative Closest Point (ICP) method for 3d reconstruction from RGBD dataset.

Code

  • Run demo.m
  • To re-execute the data preprocess pipeline, please place the ./depth, ./rgb and vicon.mat of dataset 5 into the ./5 folder and run data_preprocess.m
  • The main ICP implementation is in submission/icp_all.m and some functions under "./utils".

3d_reconstruction-icp's People

Contributors

yrlu avatar

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