- Procrustes Analysis
- Wahba's Problem
- Quaternion Estimator Algorithm (QUEST)
- Kabsch Algorithm
- Umeyama Algorithm
- Iterative Closest Point (ICP)
- KISS-ICP
ROS integration:
cmake -DWITH_ROS=ON ../superbuild
cmake --build . --config Release -DWITH_ROS=ON -DWITH_ROS=ON
git clone https://github.com/PRBonn/kiss-icp
colcon build
source ./install/setup.bash
ros2 launch kiss_icp odometry.launch.py bagfile:=<path_to_rosbag> topic:=<topic_name>