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chartsmatchpoint-cloud-library

Given one set of 2D points as groud truth, how to match it with one observed set

Assume set A={P1, P2, P3,P4,p5} is known. The coordinate system of A is o1. each point P is a 2d point which only have coordinates [x, y]. we can obtain the distance between each pair of points.

$$ \begin{matrix} 0 & d12 & d13 & d14 & d15 \ d21 & 0 & d23 & d24 & d25 \ \cdots & \cdots & \cdots & \cdots & \cdots \ d51 & d52 & d53 & d54 & 0 \ \end{matrix} $$

Now, we observe one set of points, B=[B1,B2,B3], and coordinate system is o2.

Unknown rotation(R) and transition(T) exist between coordinate system o1 and o2. But we know that all points B1-B3 are from A though observational error may exists. how to determine the correct matchings. e.g. B1(P2),B2(p3),B3(p5).

may be graph match can be used. but I can not find a tutorial.

Solution

  • I solve this problem by using 2D ICP provided in PCL library. The result is correct.