# Iterative Closest Point (ICP 迭代最近邻)

这是一种在各种需要配准两个点云的应用中被广泛采用的算法。采用EM算法的思路，假定在获得一个较准确的先验位姿的前提下，寻找一个最优的R, T，使得x点云中每个点到y点云中离它最近的那个点的距离之和最小 ![Alt text](/files/-LWOCxPWqVg2COnwmo7J) ![Alt text](/files/-LWOCxPY7kQXNrN721HH)


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