├── LICENSE
├── README.md
└── figure
    ├── PLAM_dataset.png
    └── trajectory.jpg


/LICENSE:
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 1 | MIT License
 2 | 
 3 | Copyright (c) 2024 xuqingyuan2000
 4 | 
 5 | Permission is hereby granted, free of charge, to any person obtaining a copy
 6 | of this software and associated documentation files (the "Software"), to deal
 7 | in the Software without restriction, including without limitation the rights
 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 9 | copies of the Software, and to permit persons to whom the Software is
10 | furnished to do so, subject to the following conditions:
11 | 
12 | The above copyright notice and this permission notice shall be included in all
13 | copies or substantial portions of the Software.
14 | 
15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
21 | SOFTWARE.
22 | 


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/README.md:
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 1 | # LP-ICP
 2 | **LP-ICP: General Localizability-Aware Point Cloud Registration for Robust Localization in Extreme Unstructured Environments**
 3 | 
 4 | **Update (May 2025):**
 5 | 
 6 | This project was initially intended to be open-sourced, as mentioned in an earlier version of our paper. However, prior to resubmission, we decided not to release the project due to changes in our project plans and recent observations made during the revision process.
 7 | 
 8 | In our recent experiments, we observed that the use of soft constraints in partially localizable directions may introduce fluctuations and uncertainty in pose estimation. We plan to further investigate the underlying causes and explore potential improvements in future work.
 9 | 
10 | **Accordingly:**
11 | - We have removed open-source statements from the revised manuscript;
12 | - We have informed the editor of this change in the cover letter at the time of resubmission;
13 | - We have noted in the paper that soft constraints in partially localizable directions may introduce fluctuations and uncertainty, and that further investigation is needed to better understand and improve this in future work.
14 | 
15 | We sincerely thank everyone who showed interest in this project. We apologize for any inconvenience and appreciate your understanding.
16 | 
17 | 
18 | 
19 | <br>
20 | <p align="center">
21 |   <img src="figure/PLAM_dataset.png" width="557" height="280"> 
22 | </p>
23 | <br>
24 | <p align="center">
25 |   <img src="figure/trajectory.jpg" width="668" height="310">
26 | </p>
27 | <br>
28 | 
29 | 


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/figure/PLAM_dataset.png:
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https://raw.githubusercontent.com/xuqingyuan2000/LP-ICP/e5169bb8bf8b16eedc821164ffc35d1e8e6e8106/figure/PLAM_dataset.png


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/figure/trajectory.jpg:
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https://raw.githubusercontent.com/xuqingyuan2000/LP-ICP/e5169bb8bf8b16eedc821164ffc35d1e8e6e8106/figure/trajectory.jpg


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