Module gicp 

Generalized ICP (GICP) registration algorithm.

GICP (Segal et al., 2009) extends standard ICP by modelling each point as a local Gaussian distribution whose covariance is estimated from its k nearest neighbours. Each correspondence is weighted by the combined source + target covariance, giving much stronger robustness to noise than point-to-point or point-to-plane ICP.

Used in: LOAM, LIO-SAM, and most modern LiDAR odometry pipelines.

Structs

GicpConfig

Parameters for gicp.

Functions

gicp

Align source to target using Generalized ICP.