.. _iterative-closest-point-(icp)-matching:

Iterative Closest Point (ICP) Matching
--------------------------------------

This is a 2D ICP matching example with singular value decomposition.

It can calculate a rotation matrix and a translation vector between
points to points.

.. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/SLAM/iterative_closest_point/animation.gif

Code Link
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

.. autofunction:: SLAM.ICPMatching.icp_matching.icp_matching


References
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

- `Introduction to Mobile Robotics: Iterative Closest Point Algorithm <https://cs.gmu.edu/~kosecka/cs685/cs685-icp.pdf>`_
