ICET

https://github.com/mcdermatt/ICET

This repository contains code for my Iterative Closest Ellipsoidal Transform (ICET) point cloud registration algorithm. Code was origonally released in python, but was refactored in modern C++ to afford real time performance on low SWAP hardware. Structured in a ROS package to facilitate easy integration with real world hardware from raw LIDAR data. Also included is a jupyter notebook with inline 3D visualization to better demonstrate how the algorithm works.