迭代最近点（ICP）算法如何处理遮挡问题？
Understanding the ICP Algorithm The Iterative Closest Point (ICP) algorithm is widely used for aligning 3D models and point clouds. Its primary function is to minimize the distance between the...
ICP算法在对齐3D模型和点云时，遮挡会导致性能下降，影响点匹配并可能陷入局部最优解。为提高鲁棒性，可采用鲁棒成本函数、RANSAC、减少迭代次数和数据预处理等技术。广义ICP（GICP）等变种也能更好处理遮挡数据。
