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About: Normal distributions transform     Goto   Sponge   NotDistinct   Permalink

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The normal distributions transform (NDT) is a point cloud registration algorithm introduced by Peter Biber and Wolfgang Straßer in 2003, while working at University of Tübingen. The algorithm registers two point clouds by first associating a piecewise normal distribution to the first point cloud, that gives the probability of sampling a point belonging to the cloud at a given spatial coordinate, and then finding a transform that maps the second point cloud to the first by maximising the likelihood of the second point cloud on such distribution as a function of the transform parameters.