Normal ICP - Normal Iterative Closest Point

Normal ICP

New Feature: Nearest Neighbor Data Association

A new fresh feature has been added to NICP, now it is possible align point clouds using a nearest neighbor correspondence search. Check it out on the tutorials page.

Getting Started

Normal ICP is released as a standalone open source C++ library. It can be downloaded directly from Github and its dependencies are only Eigen and OpenCV (also Qt4 and QGLViewer if you need also the visualization part).

Depth Camera Tracking

Normal ICP library provides a precise and robust depth camera tracking system. The code, minimal and simple, can be easily integrated in your system with a very little effort.

3D Laser Scan Registration

In addition to depth camera images, Normal ICP library can register point clouds generated by 3D laser sensors by using spherical depth images. Spherical depth images allow to describe scenes having a field of view even of 360°.

Interactive Testing Tools

Normal ICP library provides a set of interactive testing tools that allows to change on the fly input and parameters of the algorithm. This helps the user to understand how the algorithm is behaving!

About Normal ICP

Normal ICP is a novel algorithm for point cloud registration. Based on a different error function, it is more accurate and robust than other recent algorithms!

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Downloads

The code is minimal and easy to integrate in your system. Download it from Github and start using it right now! It will only require Eigen and OpenCV.

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Tutorials

To get started faster, give a look to our easy tutorials! With our step-by-step explanation of the code you will be able to put your hands in the library in few time.

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Support

Have you got bugs, code issues or question on how to use Normal ICP C++ Library? Register and post your questions on the NICP dedicated forum now!

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Features

Check out some of the most notable features of the Normal ICP C++ library

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Depth Camera Tracking

Normal ICP library provides an accurate and robust depth camera tracking system. The code is minimal and simple, try and integrate it in your system now!
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Depth Camera Tracking
3D Laser Scan Registration

In addition to depth camera images, Normal ICP can register point clouds generated by 3D laser sensors by using spherical depth images. See how to do it!
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3D Laser Scan Registration
Interactive Testing Tools

Normal ICP gives a set of interactive testing tools that help the user to see how the algorithm is behaving under different input and parameters settings!
Show me more details

Interactive Testing Tools