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[AMR] Add abbreviation to ICP

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janishutz committed 2026-08-10 08:50:02 +02:00
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electives/amr/autonomous-mobile-robots-cheatsheet.pdf
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electives/amr/parts/04_vision/03_mapping.tex
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@@ -33,7 +33,7 @@ $\displaystyle s_k = \frac{w_{k - 1} s_{k - 1} + \tilde{s}_k}{w_{k - 1} + 1}$ wi
\bi{Implementation} Using Hash maps or octree (dense grid inefficient) \bi{Implementation} Using Hash maps or octree (dense grid inefficient)
\subsubsection{Iterative Closest Point} \subsubsection{Iterative Closest Point (ICP)}
Build \textit{correspondences}: associate all live scan points $l_i$ to closest map points $m_i$. Error term: Build \textit{correspondences}: associate all live scan points $l_i$ to closest map points $m_i$. Error term:
$\vec{e} = \vec{T}_{W L_l} {_{L_l}}m_i - {_W}\vec{l}_i$. $\vec{e} = \vec{T}_{W L_l} {_{L_l}}m_i - {_W}\vec{l}_i$.
Minimize this via Gauss-Newton, then re-associate, iterate. Minimize this via Gauss-Newton, then re-associate, iterate.