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SLAMWang / fasterGICP

an improvement of fast_gicp
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RGBD camera pointcloud registration #6

Open stephen9999999 opened 2 years ago

stephen9999999 commented 2 years ago

Hi, thanks for your great work. Is fasterGICP suitable for pointcloud from RGBD camera? I have tried your algorithm to registrate pointcloud generated from RGBD camera, but the result is not satisfactory. Could you give me some suggestions to improve the performance in RGBD camera's pointcloud? thank you.

SLAMWang commented 2 years ago

Here is my suggestions. firstly, the voxelization resolution should be set to a large value to perform coarse alignment to generate good initial pose transformation. then, a voxelized point cloud with smaller resolution should be used for refined alignment. To find the neighbors of each point, neighbors within a certain distance should be used instead of nearest k neighbors. Furthermore, before performing alignment, the RGBD point cloud be should filtered, using some filters, such as distance filter, Bilateral filter.

stephen9999999 commented 2 years ago

Thanks for your suggestions. I will have a try.