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Comparision time of ICP and NDT in Matching

asked 2017-11-24 11:14:57 -0600

jjxforever gravatar image

Theoretically NDT is faster than ICP. But when I measure the time of NDT by clock_t, it costs 10s, while ICP costs only 0.2s through the same way. I don't know what the reasons could be. Thank you!

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answered 2018-06-21 01:59:52 -0600

hkhong gravatar image

Please check the implementation of ICP. I guess it is implemented to use multi-thread or GPU acceleration. By the way, NDT-D2D registration between two sets of about 3000 Gaussian components with multi-thread processing on Intel I7 CPU takes about 0.2-0.3 sec.

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Asked: 2017-11-24 11:14:57 -0600

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Last updated: Nov 24 '17