Iterative Closest Point
An implementation of various ICP (iterative closest point) features.
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Cite As
Jakob Wilm (2026). Iterative Closest Point (https://ch.mathworks.com/matlabcentral/fileexchange/27804-iterative-closest-point), MATLAB Central File Exchange. Retrieved .
Acknowledgements
Inspired: Optimal Step Nonrigid ICP
General Information
- Version 1.14.0 (8.63 KB)
MATLAB Release Compatibility
- Compatible with any release
Platform Compatibility
- Windows
- macOS
- Linux
| Version | Published | Release Notes | Action |
|---|---|---|---|
| 1.14.0 | Replaced the link to the thesis. |
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| 1.13.0 | Modified Orthogonal Procrustes to prevent non-plausible rotation matrix (det(R) should be +1).
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| 1.12.0 | Clearing the input parser object due to memory leaks (in older Matlab versions?) -- thanks, Walter! |
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| 1.11.0 | * Added a missing sub function: k_nearest_neighbors
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| 1.10.0 | Updated icp.m with a missing sub function. |
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| 1.9.0 | Corrected link to thesis. |
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| 1.8.0 | Combined functions in one file and added a demo script. |
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| 1.7.0 | Corrected a typo in icp.m (as pointed out in the comments, thanks!) |
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| 1.4.0 | Added rms_error and added a screenshot. |
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| 1.1.0 | Added link to thesis. |
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| 1.0.0 |
