Module robust_icp 

Robust ICP with Gauss-Newton optimization and Huber loss

Based on tier4/icp_rust architecture:

• KdTree-accelerated nearest neighbor search
• Huber loss for outlier robustness
• Weighted Gauss-Newton optimization on SE(2)

Reference: https://github.com/tier4/icp_rust

Structs

RobustICPResult

Result of robust ICP matching

RobustIcp2D

Robust 2D ICP using KdTree + Huber-weighted Gauss-Newton

Transform2D

2D rigid body transform (rotation + translation)