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並前往https://robotics.stackexchange.com/questions/18767/icp-for-lidar-point-cloud-data-in-two-frames

ICP for LiDAR point cloud data in two frames - Robotics Stack ...

Find the initial guess by 3D feature matching and refine it by point-to-point or point-to-plane ICP. Open3D has some example code on that.

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