ICP fit points in data to the points in model. Fit with respect to minimize the SUM of square errors with the closest model points and data points.
Ordinary usage:
[R, T] = icp(model,data)
INPUT:
model - matrix with model points,
data - matrix with data points,
OUTPUT:
R - rotation matrix and
T - translation vector accordingly
so
newdata = R*data + T .
newdata are transformed data points to fit model
see help icp for more information
Abstract
A new intelligent milometer base on a microcontroller can count the SUM. By taking full use of the processor 89s51 and E² PROM (AT24C02) and sensor of magnetism, it can count the SUM of fully distance and the course of development.
Relationship Between the SUM of Squared Difference (SSD)
and Cross Correlation for Template Matching
Konstantinos G. Derpanis
York University
kosta@cs.yorku.ca
Version 1.0
December 23, 2005
