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←Created page with '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 spat...' |
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The '''normal distributions transform''' ('''NDT''') is a [[point-set registration|point cloud registration]] [[algorithm]] introduced by Peter Biber and Wolfgang
The algorithm registers two point clouds by first associating a [[piecewise]] [[normal distribution|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 function|likelihood]] of the second point cloud on such distribution as a function of the transform parameters.
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