{"id":18621396,"url":"https://github.com/ethz-asl/robust_point_cloud_registration","last_synced_at":"2025-04-05T14:06:51.760Z","repository":{"id":47504453,"uuid":"73685309","full_name":"ethz-asl/robust_point_cloud_registration","owner":"ethz-asl","description":"Robust Point Cloud Registration Using Iterative Probabilistic Data Associations (\"Robust ICP\")","archived":false,"fork":false,"pushed_at":"2017-05-15T20:36:03.000Z","size":62,"stargazers_count":568,"open_issues_count":11,"forks_count":182,"subscribers_count":31,"default_branch":"master","last_synced_at":"2025-03-29T13:08:59.496Z","etag":null,"topics":["alignment","icp","point-cloud"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/ethz-asl.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null}},"created_at":"2016-11-14T08:52:07.000Z","updated_at":"2025-03-20T23:21:30.000Z","dependencies_parsed_at":"2022-09-05T13:01:19.816Z","dependency_job_id":null,"html_url":"https://github.com/ethz-asl/robust_point_cloud_registration","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ethz-asl%2Frobust_point_cloud_registration","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ethz-asl%2Frobust_point_cloud_registration/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ethz-asl%2Frobust_point_cloud_registration/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ethz-asl%2Frobust_point_cloud_registration/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/ethz-asl","download_url":"https://codeload.github.com/ethz-asl/robust_point_cloud_registration/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":247345852,"owners_count":20924102,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["alignment","icp","point-cloud"],"created_at":"2024-11-07T04:11:30.480Z","updated_at":"2025-04-05T14:06:51.744Z","avatar_url":"https://github.com/ethz-asl.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Iterative Probabilistic Data Association (IPDA)\nRobust Point Cloud Registration Using One-To-Many Iterative Probabilistic Data Associations (\"Robust ICP\"). \nContains wrappers for ICP, GICP, NDT as well as the source code for IPDA.\n\n### Authors\n- Simone Fontana (simone.fontana@disco.unimib.it)\n- Timo Hinzmann (hitimo@ethz.ch) \n- Gabriel Agamennoni (g.agamennoni@gmail.com)\n\n### Maintainers\n- Timo Hinzmann (hitimo@ethz.ch)\n![](https://github.com/ethz-asl/ipda/wiki/ipda.png)\n\n# Getting started\n- [Dependencies](https://github.com/ethz-asl/robust_point_cloud_registration/wiki/Dependencies)\n- [Installation](https://github.com/ethz-asl/robust_point_cloud_registration/wiki/Installation)\n- [Samples](https://github.com/ethz-asl/robust_point_cloud_registration/wiki/Samples)\n- [Datasets](https://github.com/ethz-asl/robust_point_cloud_registration/wiki/Datasets)\n- [Jenkins](http://129.132.38.183:8080/job/robust_point_cloud_registration/)\n\n# Citing\nThe Iterative Probabilistic Data Association algorithm was introduced by the following paper:\n\nG. Agamennoni, S. Fontana, R. Y. Siegwart and D. G. Sorrenti \"[Point Clouds Registration with Probabilistic Data Association](https://github.com/ethz-asl/ipda/wiki/0383.pdf)\", in International Conference on Intelligent Robots and Systems (IROS), 2016.\n\n```\n@INPROCEEDINGS{agamennoniIROS16,\n   Author = {G. Agamennoni, S. Fontana, R. Y. Siegwart and D. G. Sorrenti},\n   Title = {Point Clouds Registration with Probabilistic Data Association},\n   Booktitle = {Proc. of The International Conference on Intelligent Robots and Systems (IROS)},\n   Year = {2016}\n}\n```\n\nThe algorithm was successfully employed in the following publication:\n\nT. Hinzmann, T. Stastny, G. Conte, P. Doherty, P. Rudol, M. Wzorek, E. Galceran, R. Siegwart, I. Gilitschenski \"[Collaborative 3D Reconstruction using Heterogeneous UAVs: System and Experiments](http://www.timohinzmann.com/publications/iser_2016_hinzmann.pdf)\", in The 15th International Symposium on Experimental Robotics (ISER), 2016.\n\n```\n@inproceedings{iser_2016_hinzmann,\n  author    = {Timo Hinzmann and Thomas Stastny and Gianpaolo Conte and Patrick Doherty and Piotr Rudol and Marius Wzorek and Enric Galceran and Roland Siegwart and Igor Gilitschenski},\n  title     = {Collaborative 3D Reconstruction using Heterogeneous UAVs: System and Experiments},\n  booktitle = {Experimental Robotics - The 15th International Symposium on Experimental\n               Robotics, {ISER} 2016, October 3-6, 2016, Tokyo, Japan},\n  year      = {2016},\n}\n```\n\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fethz-asl%2Frobust_point_cloud_registration","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fethz-asl%2Frobust_point_cloud_registration","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fethz-asl%2Frobust_point_cloud_registration/lists"}