1. Ground truth configuration of robot poses and cube points.

    https://s3-us-west-2.amazonaws.com/secure.notion-static.com/fd8a2b1b-8658-44d3-9cf3-ee07b340079d/gt_configuration.png

  2. Registering successive robot position using ICP for calculating the transformation or odometry.

    https://s3-us-west-2.amazonaws.com/secure.notion-static.com/89cbda5d-e061-4673-9da6-6d2e01c4ef2b/icp.png

  3. Registering point clouds from all robot positions to the first frame.

    https://s3-us-west-2.amazonaws.com/secure.notion-static.com/52d30c8d-8733-421b-be44-a59efb73deca/registered_first.png

  4. Optimization using Multiview ICP formulation. And registering all point clouds to the first frame.

    https://s3-us-west-2.amazonaws.com/secure.notion-static.com/512ca185-4995-450c-8283-ec634cd7caa9/registered_opt.png