Hey, I have made a comparision between all ICP based laser scan-matching methods in detail (including ICP, PL-ICP, NICP, IMLS-ICP):
- You can see my document:
ICP-Methods-Comparision/ICP_Methods_Compare.pdf - The papers I have referenced, please see the folder:
ICP-Methods-Comparision/papers - An simple implementation of the method "IMLS-ICP"，please see:
ICP-Methods-Comparision/imlsMatcherProject - In future,the Correlative Scan-Matching (CSM) will also be added, for getting a robuster pose estimate result.