Normal distributions transform: Difference between revisions

Revision as of 18:45, 20 February 2022

Revision as of 21:06, 20 February 2022

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The '''normal distributions transform''' ('''NDT''') is a [[point-set registration|point cloud registration]] [[algorithm]] introduced by Peter Biber and Wolfgang StraberStraßer in 2003, while working at [[University of Tübingen]].

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.