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Week 4.
Localization
Implementation Example
ICP Algorithm
• Problem: Register two point sets X and Y.
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ICP Algorithm
Initialize F and G
E-step
M-step
Stop if converged
ICP Algorithm
Closest point!
I9 = arg min O9 − IQ
Initialize F and G KL ∈N
E-step
Find H O9 I9
M-step
Stop if converged
ICP Algorithm
Initialize F and G
E-step
Find H
M-step
S
Find better F and G F, G = arg min 1 R(O9 , I9 )
TU ,KU ∈V
Stop if converged
E-step
F, G
Update H
M-step
Update F and G
Stop if converged
ICP: Example
Initialize F and G
E-step
Update H
M-step
Update F and G
Stop if converged
ICP: Motion Increment