Code

A hybrid hierarchic ICP Matlab/C++ toolbox

HH-ICP HH-ICP_top

This is an ICP toolbox for 3D point clouds . Its mainly coded in Matlab but some functions have been written in C++ for optimization purposes. To solve the NNS this toolbox employees: ANN library, GLTreePro (which are included in the companioning zip and already compiled for Windows(32-bits) and Linux (32/64-bits)) and Box Search Matlab version .
This toolbox includes different data association metrics such as: point-to-point, point-projection-to-plane and the Hybrid Hierarchic from my IROS 2009 paper. It also includes different filters for data association.
The user can also select different distance metrics.


Other Code

If you want a copy of the code for:
  • The terrain classifier
  • HRA*: Hybrid randomized path planning


    • Please contact at ehomar{at}iri{dot}upc{dot}edu.

    3D_map_slam poses_map path_planning