Iterative Closest Points - Robotics

Class Project - CS 3630 at Georgia Tech

Python Notebook

This project implements an ICP algorithm and use it alongside GTSAM to perform simultaneous localization & mapping (SLAM) on Lidar scans.

The Notebook should be used on a Google Colab or Jupyter Notebook to interactively see the robot movements.

The following are a samples of the cloud visualizations used in ICP: