In order to allow people who want to learn SLAM to complete the basic theory of SLAM without relying on ros,and no grid map.Only use point
No need to use any toolbox, just move the program directly into MATLAB and run it
If you use MATLAB to form a raster map, it will be much faster. If you use MATLAB to directly form a point cloud map, since multiple points must be matched each time, if you continue to use multi-resolution ICP, the efficiency will be much slower. Therefore, the SLAM effect of the ICP tested this time was not as good as expected.