{"id":1409,"date":"2016-03-10T12:09:37","date_gmt":"2016-03-10T03:09:37","guid":{"rendered":"https:\/\/d-itlab.co.jp\/?p=1409"},"modified":"2026-03-10T12:12:00","modified_gmt":"2026-03-10T03:12:00","slug":"20160310","status":"publish","type":"post","link":"https:\/\/d-itlab.co.jp\/en\/blog\/20160310\/","title":{"rendered":"Go-ICP \u30b0\u30ed\u30fc\u30d0\u30eb\u6700\u9069\u306aICP -Globally optimal ICP(2015 PAMI)-\u306e\u89e3\u8aac"},"content":{"rendered":"<p>\u5148\u65e5\u793e\u5185\u306e\u52c9\u5f37\u4f1a\u3067\uff0c\u30b0\u30ed\u30fc\u30d0\u30eb\u6700\u9069\u306aIterative Closest Point(ICP)\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u201d<a href=\"http:\/\/iitlab.bit.edu.cn\/mcislab\/~yangjiaolong\/go-icp\/\">Go-ICP<\/a>\u201d\u306b\u3064\u3044\u3066\u7d39\u4ecb\u3057\u307e\u3057\u305f\uff0e<\/p>\n<p>ICP\u306f\u6709\u540d\u306a\u3068\u3053\u308d\u3067\u306fKinect Fusion\u306a\u3069\uff0c3\u6b21\u5143\u70b9\u7fa4\u306e\u30ec\u30b8\u30b9\u30c8\u30ec\u30fc\u30b7\u30e7\u30f3\u306b\u5e83\u304f\u7528\u3044\u3089\u308c\u3066\u3044\u307e\u3059\uff0e\u57fa\u672c\u7684\u306b\u306f\uff0c\u6700\u8fd1\u508d\u70b9\u306e\u5bfe\u5fdc\u4ed8\u3051\u3068\u59ff\u52e2(\u4e26\u9032\u3068\u56de\u8ee2)\u306e\u63a8\u5b9a\u3092\u9806\u6b21\u7e70\u308a\u8fd4\u3057\u3066\u3044\u304f\u3053\u3068\u3067\uff0c\u70b9\u7fa4\u9593\u306e2\u4e57\u8aa4\u5dee\u3092\u6700\u5c0f\u306b\u3059\u308b\u3088\u3046\u306a\u59ff\u52e2\u3092\u898b\u3064\u3051\u3088\u3046\u3068\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3067\u3059\uff0e<\/p>\n<p>ICP\u306f\u539f\u7406\u4e0a\uff0c\u70b9\u7fa4\u9593\u306e\u59ff\u52e2\u304c\u3042\u308b\u7a0b\u5ea6\u96e2\u308c\u308b\u3068\u5c40\u6240\u89e3\u306b\u9665\u3063\u3066\u3057\u307e\u3044\u6b63\u3057\u304f\u30ec\u30b8\u30b9\u30c8\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u304d\u306a\u3044\u3068\u3044\u3046\u8ab2\u984c\u304c\u3042\u308a\u307e\u3059\uff0e<\/p>\n<p>\u305d\u3053\u3067\uff0c\u5c40\u6240\u6027\u3092\u6539\u5584\u3057\u305f\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0(SoftAssign \u306a\u3069)\u3084\uff0c\u30ed\u30fc\u30ab\u30eb\u306a\u7279\u5fb4(Spin Image\u30844PCS\u306a\u3069)\u3092\u7528\u3044\u3066\u5927\u57df\u7684\u306b\u30ec\u30b8\u30b9\u30c8\u30ec\u30fc\u30b7\u30e7\u30f3\u3059\u308b\u624b\u6cd5\u306a\u3069\u591a\u69d8\u306a\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u304c\u63d0\u6848\u3055\u308c\u3066\u3044\u307e\u3059\u304c\uff0c\u30b0\u30ed\u30fc\u30d0\u30eb\u201d\u6700\u9069\u201d\u306a\u70b9\u7fa4\u306e\u30ec\u30b8\u30b9\u30c8\u30ec\u30fc\u30b7\u30e7\u30f3\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306f\u3042\u307e\u308a\u63d0\u6848\u3055\u308c\u3066\u3044\u307e\u305b\u3093\u3067\u3057\u305f\uff0e<\/p>\n<p>2013 ICCV,2015 PAMI\u306e\u8ad6\u6587\u3067\u30b0\u30ed\u30fc\u30d0\u30eb\u6700\u9069\u306aICP\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0<a href=\"http:\/\/iitlab.bit.edu.cn\/mcislab\/~yangjiaolong\/go-icp\/\">Go-ICP<\/a>\u304c\u767a\u8868\u3055\u308c\u307e\u3057\u305f\uff0e\u8a73\u3057\u304f\u306f\u30b9\u30e9\u30a4\u30c9\u3067\u89e3\u8aac\u3057\u3066\u3044\u307e\u3059\u304c\uff0cBranch and Bound(\u5206\u679d\u9650\u5b9a)\u3068Voxel ICP\u306e\u7d44\u307f\u5408\u308f\u305b\u3067\u52b9\u7387\u7684\u306bSE(3)\u306e6\u81ea\u7531\u5ea6\u30d1\u30e9\u30e1\u30fc\u30bf\u7a7a\u9593\u304b\u3089\u6700\u9069\u306a\u89e3\u3092\u63a2\u3057\u307e\u3059\uff0e<\/p>\n<p><a href=\"http:\/\/iitlab.bit.edu.cn\/mcislab\/~yangjiaolong\/go-icp\/\">\u8457\u8005\u306e\u30da\u30fc\u30b8<\/a>\u306b\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u304c\u516c\u958b\u3055\u308c\u3066\u3044\u307e\u3059\u306e\u3067\u7c21\u5358\u306b\u8a66\u3059\u3053\u3068\u304c\u3067\u304d\u307e\u3059\uff0e\u516c\u958b\u3055\u308c\u3066\u3044\u308b\u30bd\u30fc\u30b9\u306f\u30c6\u30ad\u30b9\u30c8\u30d5\u30a1\u30a4\u30eb\u304b\u3089\u70b9\u7fa4\u30c7\u30fc\u30bf\u3092\u8aad\u307f\u8fbc\u3093\u3067\u59ff\u52e2\u3092\u30c6\u30ad\u30b9\u30c8\u30d5\u30a1\u30a4\u30eb\u3067\u66f8\u304d\u51fa\u3059\u4ed5\u69d8\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u304c\uff0c\u5916\u90e8\u30e9\u30a4\u30d6\u30e9\u30ea\u306e\u4f9d\u5b58\u304c\u306a\u304f\u7c21\u5358\u306bMatlab\u306emex\u95a2\u6570\u3092\u4f5c\u6210\u3067\u304d\u307e\u3059\u306e\u3067\uff0c\u3044\u308d\u3044\u308d\u70b9\u7fa4\u3092\u5909\u3048\u3066\u8a66\u3057\u305f\u3044\u5834\u5408\u306fmex\u5316\u304c\u30aa\u30b9\u30b9\u30e1\u3067\u3059\uff0e<\/p>\n<p><iframe loading=\"lazy\" src=\"https:\/\/www.slideshare.net\/slideshow\/embed_code\/59250929\" width=\"660\" height=\"534\" frameborder=\"0\" marginwidth=\"0\" marginheight=\"0\" scrolling=\"no\"><\/iframe><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u5148\u65e5\u793e\u5185\u306e\u52c9\u5f37\u4f1a\u3067\uff0c\u30b0\u30ed\u30fc\u30d0\u30eb\u6700\u9069\u306aIterative Closest Point(ICP)\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u201dGo-ICP\u201d\u306b\u3064\u3044\u3066\u7d39\u4ecb\u3057\u307e\u3057\u305f\uff0e ICP\u306f\u6709\u540d\u306a\u3068\u3053\u308d\u3067\u306fKinect Fusion\u306a\u3069\uff0c3\u6b21\u5143\u70b9\u7fa4\u306e\u30ec\u30b8\u30b9\u30c8\u30ec\u30fc\u30b7\u30e7\u30f3\u306b\u5e83\u304f\u7528\u3044\u3089\u308c\u3066\u3044\u307e\u3059\uff0e\u57fa\u672c\u7684\u306b\u306f\uff0c\u6700\u8fd1\u508d\u70b9\u306e\u5bfe\u5fdc\u4ed8\u3051\u3068\u59ff\u52e2(\u4e26\u9032\u3068\u56de\u8ee2)\u306e\u63a8\u5b9a\u3092\u9806\u6b21\u7e70\u308a\u8fd4\u3057\u3066\u3044\u304f\u3053\u3068\u3067\uff0c\u70b9\u7fa4\u9593\u306e2\u4e57\u8aa4\u5dee\u3092\u6700\u5c0f\u306b\u3059\u308b\u3088\u3046\u306a\u59ff\u52e2\u3092\u898b\u3064\u3051\u3088\u3046\u3068\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3067\u3059\uff0e ICP\u306f\u539f\u7406\u4e0a\uff0c\u70b9\u7fa4\u9593\u306e\u59ff\u52e2\u304c\u3042\u308b\u7a0b\u5ea6\u96e2\u308c\u308b\u3068\u5c40\u6240\u89e3\u306b\u9665\u3063\u3066\u3057\u307e\u3044\u6b63\u3057\u304f\u30ec\u30b8\u30b9\u30c8\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u304d\u306a\u3044\u3068\u3044\u3046\u8ab2\u984c\u304c\u3042\u308a\u307e\u3059\uff0e \u305d\u3053\u3067\uff0c\u5c40\u6240\u6027\u3092\u6539\u5584\u3057\u305f\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0(SoftAssign \u306a\u3069)\u3084\uff0c\u30ed\u30fc\u30ab\u30eb\u306a\u7279\u5fb4(Spin Image\u30844PCS\u306a\u3069)\u3092\u7528\u3044\u3066\u5927\u57df\u7684\u306b\u30ec\u30b8\u30b9\u30c8\u30ec\u30fc\u30b7\u30e7\u30f3\u3059\u308b\u624b\u6cd5\u306a\u3069\u591a\u69d8\u306a\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u304c\u63d0\u6848\u3055\u308c\u3066\u3044\u307e\u3059\u304c\uff0c\u30b0\u30ed\u30fc\u30d0\u30eb\u201d\u6700\u9069\u201d\u306a\u70b9\u7fa4\u306e\u30ec\u30b8\u30b9\u30c8\u30ec\u30fc\u30b7\u30e7\u30f3\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306f\u3042\u307e\u308a\u63d0\u6848\u3055\u308c\u3066\u3044\u307e\u305b\u3093\u3067\u3057\u305f\uff0e 2013 ICCV,2015 PAMI\u306e\u8ad6\u6587\u3067\u30b0\u30ed\u30fc\u30d0\u30eb\u6700\u9069\u306aICP\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0Go-ICP\u304c\u767a\u8868\u3055\u308c\u307e\u3057\u305f\uff0e\u8a73\u3057\u304f\u306f\u30b9\u30e9\u30a4\u30c9\u3067\u89e3\u8aac\u3057\u3066\u3044\u307e\u3059\u304c\uff0cBranch and Bound(\u5206\u679d\u9650\u5b9a)\u3068Voxel ICP\u306e\u7d44\u307f\u5408\u308f\u305b\u3067\u52b9\u7387\u7684\u306bSE(3)\u306e6\u81ea\u7531\u5ea6\u30d1\u30e9\u30e1\u30fc\u30bf\u7a7a\u9593\u304b\u3089\u6700\u9069\u306a\u89e3\u3092\u63a2\u3057\u307e\u3059\uff0e \u8457\u8005\u306e\u30da\u30fc\u30b8\u306b\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u304c\u516c\u958b\u3055\u308c\u3066\u3044\u307e\u3059\u306e\u3067\u7c21\u5358\u306b\u8a66\u3059\u3053\u3068\u304c\u3067\u304d\u307e\u3059\uff0e\u516c\u958b\u3055\u308c\u3066\u3044\u308b\u30bd\u30fc\u30b9\u306f\u30c6\u30ad\u30b9\u30c8\u30d5\u30a1\u30a4\u30eb\u304b\u3089\u70b9\u7fa4\u30c7\u30fc\u30bf\u3092\u8aad\u307f\u8fbc\u3093\u3067\u59ff\u52e2\u3092\u30c6\u30ad\u30b9\u30c8\u30d5\u30a1\u30a4\u30eb\u3067\u66f8\u304d\u51fa\u3059\u4ed5\u69d8\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u304c\uff0c\u5916\u90e8\u30e9\u30a4\u30d6\u30e9\u30ea\u306e\u4f9d\u5b58\u304c\u306a\u304f\u7c21\u5358\u306bMatlab\u306emex\u95a2\u6570\u3092\u4f5c\u6210\u3067\u304d\u307e\u3059\u306e\u3067\uff0c\u3044\u308d\u3044\u308d\u70b9\u7fa4\u3092\u5909\u3048\u3066\u8a66\u3057\u305f\u3044\u5834\u5408\u306fmex\u5316\u304c\u30aa\u30b9\u30b9\u30e1\u3067\u3059\uff0e<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_acf_changed":false,"_jetpack_newsletter_access":"","_jetpack_dont_email_post_to_subs":false,"_jetpack_newsletter_tier_id":0,"_jetpack_memberships_contains_paywalled_content":false,"_locale":"en_US","_original_post":"https:\/\/d-itlab.co.jp\/?p=630","_wpcom_ai_launchpad_first_post":false,"_jetpack_feature_clip_id":0,"_jetpack_memberships_contains_paid_content":false,"footnotes":"","jetpack_post_was_ever_published":false},"categories":[53],"tags":[],"kind_blog":[],"member":[27],"keyword_tech":[],"class_list":["post-1409","post","type-post","status-publish","format-standard","hentry","category-round-lecture","member-27","en-US"],"acf":[],"aioseo_notices":[],"aioseo_head":"\n\t\t<!-- All in One SEO 5.0.1.1 - aioseo.com -->\n\t<meta name=\"description\" content=\"\u5148\u65e5\u793e\u5185\u306e\u52c9\u5f37\u4f1a\u3067\uff0c\u30b0\u30ed\u30fc\u30d0\u30eb\u6700\u9069\u306aIterative Closest Point(ICP)\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u201dGo-ICP\u201d\u306b\u3064\u3044\u3066\u7d39\u4ecb\u3057\u307e\u3057\u305f\uff0e ICP\u306f\u6709\u540d\u306a\u3068\u3053\u308d\u3067\u306fKinect Fusion\u306a\u3069\uff0c3\u6b21\u5143\u70b9\u7fa4\u306e\u30ec\u30b8\u30b9\u30c8\u30ec\u30fc\u30b7\u30e7\u30f3\u306b\u5e83\u304f\u7528\u3044\u3089\u308c\u3066\u3044\u307e\u3059\uff0e\u57fa\u672c\u7684\u306b\u306f\uff0c\u6700\u8fd1\u508d\u70b9\u306e\u5bfe\u5fdc\u4ed8\u3051\u3068\u59ff\u52e2(\u4e26\u9032\u3068\u56de\u8ee2)\u306e\u63a8\u5b9a\u3092\u9806\u6b21\u7e70\u308a\u8fd4\u3057\u3066\u3044\u304f\u3053\u3068\u3067\uff0c\u70b9\u7fa4\u9593\u306e2\u4e57\u8aa4\u5dee\u3092\u6700\u5c0f\u306b\u3059\u308b\u3088\u3046\u306a\u59ff\u52e2\u3092\u898b\u3064\u3051\u3088\u3046\u3068\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3067\u3059\uff0e ICP\u306f\u539f\u7406\u4e0a\uff0c\u70b9\u7fa4\u9593\u306e\u59ff\u52e2\u304c\u3042\u308b\u7a0b\u5ea6\u96e2\u308c\u308b\u3068\u5c40\u6240\u89e3\u306b\u9665\u3063\u3066\u3057\u307e\u3044\u6b63\u3057\u304f\u30ec\u30b8\u30b9\u30c8\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u304d\u306a\u3044\u3068\u3044\u3046\u8ab2\u984c\u304c\u3042\u308a\u307e\u3059\uff0e \u305d\u3053\u3067\uff0c\u5c40\u6240\u6027\u3092\u6539\u5584\u3057\u305f\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0(SoftAssign \u306a\u3069)\u3084\uff0c\u30ed\u30fc\u30ab\u30eb\u306a\u7279\u5fb4(Spin Image\u30844PCS\u306a\u3069)\u3092\u7528\u3044\u3066\u5927\u57df\u7684\u306b\u30ec\u30b8\u30b9\u30c8\u30ec\u30fc\u30b7\u30e7\u30f3\u3059\u308b\u624b\u6cd5\u306a\u3069\u591a\u69d8\u306a\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u304c\u63d0\u6848\u3055\u308c\u3066\u3044\u307e\u3059\u304c\uff0c\u30b0\u30ed\u30fc\u30d0\u30eb\u201d\u6700\u9069\u201d\u306a\u70b9\u7fa4\u306e\u30ec\u30b8\u30b9\u30c8\u30ec\u30fc\u30b7\u30e7\u30f3\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306f\u3042\u307e\u308a\u63d0\u6848\u3055\u308c\u3066\u3044\u307e\u305b\u3093\u3067\u3057\u305f\uff0e 2013 ICCV,2015 PAMI\u306e\u8ad6\u6587\u3067\u30b0\u30ed\u30fc\u30d0\u30eb\u6700\u9069\u306aICP\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0Go-ICP\u304c\u767a\u8868\u3055\u308c\u307e\u3057\u305f\uff0e\u8a73\u3057\u304f\u306f\u30b9\u30e9\u30a4\u30c9\u3067\u89e3\u8aac\u3057\u3066\u3044\u307e\u3059\u304c\uff0cBranch and Bound(\u5206\u679d\u9650\u5b9a)\u3068Voxel ICP\u306e\u7d44\u307f\u5408\u308f\u305b\u3067\u52b9\u7387\u7684\u306bSE(3)\u306e6\u81ea\u7531\u5ea6\u30d1\u30e9\u30e1\u30fc\u30bf\u7a7a\u9593\u304b\u3089\u6700\u9069\u306a\u89e3\u3092\u63a2\u3057\u307e\u3059\uff0e \u8457\u8005\u306e\u30da\u30fc\u30b8\u306b\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u304c\u516c\u958b\u3055\u308c\u3066\u3044\u307e\u3059\u306e\u3067\u7c21\u5358\u306b\u8a66\u3059\u3053\u3068\u304c\u3067\u304d\u307e\u3059\uff0e\u516c\u958b\u3055\u308c\u3066\u3044\u308b\u30bd\u30fc\u30b9\u306f\u30c6\u30ad\u30b9\u30c8\u30d5\u30a1\u30a4\u30eb\u304b\u3089\u70b9\u7fa4\u30c7\u30fc\u30bf\u3092\u8aad\u307f\u8fbc\u3093\u3067\u59ff\u52e2\u3092\u30c6\u30ad\u30b9\u30c8\u30d5\u30a1\u30a4\u30eb\u3067\u66f8\u304d\u51fa\u3059\u4ed5\u69d8\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u304c\uff0c\u5916\u90e8\u30e9\u30a4\u30d6\u30e9\u30ea\u306e\u4f9d\u5b58\u304c\u306a\u304f\u7c21\u5358\u306bMatlab\u306emex\u95a2\u6570\u3092\u4f5c\u6210\u3067\u304d\u307e\u3059\u306e\u3067\uff0c\u3044\u308d\u3044\u308d\u70b9\u7fa4\u3092\u5909\u3048\u3066\u8a66\u3057\u305f\u3044\u5834\u5408\u306fmex\u5316\u304c\u30aa\u30b9\u30b9\u30e1\u3067\u3059\uff0e\" \/>\n\t<meta name=\"robots\" content=\"max-image-preview:large\" \/>\n\t<meta name=\"author\" content=\"aem_admin\"\/>\n\t<link rel=\"canonical\" href=\"https:\/\/d-itlab.co.jp\/en\/blog\/20160310\/\" \/>\n\t<meta name=\"generator\" content=\"All in One SEO (AIOSEO) 5.0.1.1\" \/>\n\t\t<meta property=\"og:locale\" content=\"en_US\" \/>\n\t\t<meta property=\"og:site_name\" content=\"\u682a\u5f0f\u4f1a\u793e\u30c7\u30f3\u30bd\u30fc\u30a2\u30a4\u30c6\u30a3\u30fc\u30e9\u30dc\u30e9\u30c8\u30ea - \u591a\u69d8\u306a\u4eba\u3001\u591a\u69d8\u306a\u6280\u8853\u3001\u591a\u69d8\u306a\u601d\u3044\u304c\u30aa\u30fc\u30d7\u30f3\u306b\u4ea4\u3058\u308a\u5408\u3046\u7814\u7a76\u958b\u767a\u4f01\u696d\u3002\u305d\u308c\u304c\u30c7\u30f3\u30bd\u30fc\u30a2\u30a4\u30c6\u30a3\u30fc\u30e9\u30dc\u30e9\u30c8\u30ea\u3067\u3059\u3002\u308f\u305f\u3057\u305f\u3061\u306f\u81ea\u7531\u306a\u767a\u60f3\u3067\u307e\u3060\u898b\u306c\u4e16\u754c\u306e\u30ef\u30af\u30ef\u30af\u3092\u5275\u9020\u3057\u307e\u3059\u3002\" \/>\n\t\t<meta property=\"og:type\" content=\"article\" \/>\n\t\t<meta property=\"og:title\" content=\"Go-ICP \u30b0\u30ed\u30fc\u30d0\u30eb\u6700\u9069\u306aICP -Globally optimal ICP(2015 PAMI)-\u306e\u89e3\u8aac - \u682a\u5f0f\u4f1a\u793e\u30c7\u30f3\u30bd\u30fc\u30a2\u30a4\u30c6\u30a3\u30fc\u30e9\u30dc\u30e9\u30c8\u30ea\" \/>\n\t\t<meta property=\"og:description\" content=\"\u5148\u65e5\u793e\u5185\u306e\u52c9\u5f37\u4f1a\u3067\uff0c\u30b0\u30ed\u30fc\u30d0\u30eb\u6700\u9069\u306aIterative Closest Point(ICP)\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u201dGo-ICP\u201d\u306b\u3064\u3044\u3066\u7d39\u4ecb\u3057\u307e\u3057\u305f\uff0e ICP\u306f\u6709\u540d\u306a\u3068\u3053\u308d\u3067\u306fKinect Fusion\u306a\u3069\uff0c3\u6b21\u5143\u70b9\u7fa4\u306e\u30ec\u30b8\u30b9\u30c8\u30ec\u30fc\u30b7\u30e7\u30f3\u306b\u5e83\u304f\u7528\u3044\u3089\u308c\u3066\u3044\u307e\u3059\uff0e\u57fa\u672c\u7684\u306b\u306f\uff0c\u6700\u8fd1\u508d\u70b9\u306e\u5bfe\u5fdc\u4ed8\u3051\u3068\u59ff\u52e2(\u4e26\u9032\u3068\u56de\u8ee2)\u306e\u63a8\u5b9a\u3092\u9806\u6b21\u7e70\u308a\u8fd4\u3057\u3066\u3044\u304f\u3053\u3068\u3067\uff0c\u70b9\u7fa4\u9593\u306e2\u4e57\u8aa4\u5dee\u3092\u6700\u5c0f\u306b\u3059\u308b\u3088\u3046\u306a\u59ff\u52e2\u3092\u898b\u3064\u3051\u3088\u3046\u3068\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3067\u3059\uff0e ICP\u306f\u539f\u7406\u4e0a\uff0c\u70b9\u7fa4\u9593\u306e\u59ff\u52e2\u304c\u3042\u308b\u7a0b\u5ea6\u96e2\u308c\u308b\u3068\u5c40\u6240\u89e3\u306b\u9665\u3063\u3066\u3057\u307e\u3044\u6b63\u3057\u304f\u30ec\u30b8\u30b9\u30c8\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u304d\u306a\u3044\u3068\u3044\u3046\u8ab2\u984c\u304c\u3042\u308a\u307e\u3059\uff0e \u305d\u3053\u3067\uff0c\u5c40\u6240\u6027\u3092\u6539\u5584\u3057\u305f\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0(SoftAssign \u306a\u3069)\u3084\uff0c\u30ed\u30fc\u30ab\u30eb\u306a\u7279\u5fb4(Spin Image\u30844PCS\u306a\u3069)\u3092\u7528\u3044\u3066\u5927\u57df\u7684\u306b\u30ec\u30b8\u30b9\u30c8\u30ec\u30fc\u30b7\u30e7\u30f3\u3059\u308b\u624b\u6cd5\u306a\u3069\u591a\u69d8\u306a\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u304c\u63d0\u6848\u3055\u308c\u3066\u3044\u307e\u3059\u304c\uff0c\u30b0\u30ed\u30fc\u30d0\u30eb\u201d\u6700\u9069\u201d\u306a\u70b9\u7fa4\u306e\u30ec\u30b8\u30b9\u30c8\u30ec\u30fc\u30b7\u30e7\u30f3\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306f\u3042\u307e\u308a\u63d0\u6848\u3055\u308c\u3066\u3044\u307e\u305b\u3093\u3067\u3057\u305f\uff0e 2013 ICCV,2015 PAMI\u306e\u8ad6\u6587\u3067\u30b0\u30ed\u30fc\u30d0\u30eb\u6700\u9069\u306aICP\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0Go-ICP\u304c\u767a\u8868\u3055\u308c\u307e\u3057\u305f\uff0e\u8a73\u3057\u304f\u306f\u30b9\u30e9\u30a4\u30c9\u3067\u89e3\u8aac\u3057\u3066\u3044\u307e\u3059\u304c\uff0cBranch and Bound(\u5206\u679d\u9650\u5b9a)\u3068Voxel ICP\u306e\u7d44\u307f\u5408\u308f\u305b\u3067\u52b9\u7387\u7684\u306bSE(3)\u306e6\u81ea\u7531\u5ea6\u30d1\u30e9\u30e1\u30fc\u30bf\u7a7a\u9593\u304b\u3089\u6700\u9069\u306a\u89e3\u3092\u63a2\u3057\u307e\u3059\uff0e \u8457\u8005\u306e\u30da\u30fc\u30b8\u306b\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u304c\u516c\u958b\u3055\u308c\u3066\u3044\u307e\u3059\u306e\u3067\u7c21\u5358\u306b\u8a66\u3059\u3053\u3068\u304c\u3067\u304d\u307e\u3059\uff0e\u516c\u958b\u3055\u308c\u3066\u3044\u308b\u30bd\u30fc\u30b9\u306f\u30c6\u30ad\u30b9\u30c8\u30d5\u30a1\u30a4\u30eb\u304b\u3089\u70b9\u7fa4\u30c7\u30fc\u30bf\u3092\u8aad\u307f\u8fbc\u3093\u3067\u59ff\u52e2\u3092\u30c6\u30ad\u30b9\u30c8\u30d5\u30a1\u30a4\u30eb\u3067\u66f8\u304d\u51fa\u3059\u4ed5\u69d8\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u304c\uff0c\u5916\u90e8\u30e9\u30a4\u30d6\u30e9\u30ea\u306e\u4f9d\u5b58\u304c\u306a\u304f\u7c21\u5358\u306bMatlab\u306emex\u95a2\u6570\u3092\u4f5c\u6210\u3067\u304d\u307e\u3059\u306e\u3067\uff0c\u3044\u308d\u3044\u308d\u70b9\u7fa4\u3092\u5909\u3048\u3066\u8a66\u3057\u305f\u3044\u5834\u5408\u306fmex\u5316\u304c\u30aa\u30b9\u30b9\u30e1\u3067\u3059\uff0e\" \/>\n\t\t<meta property=\"og:url\" content=\"https:\/\/d-itlab.co.jp\/en\/blog\/20160310\/\" \/>\n\t\t<meta property=\"og:image\" content=\"https:\/\/d-itlab.co.jp\/wp-content\/uploads\/2025\/07\/itlab_OGP.jpg\" \/>\n\t\t<meta property=\"og:image:secure_url\" content=\"https:\/\/d-itlab.co.jp\/wp-content\/uploads\/2025\/07\/itlab_OGP.jpg\" \/>\n\t\t<meta property=\"og:image:width\" content=\"1200\" \/>\n\t\t<meta property=\"og:image:height\" content=\"630\" \/>\n\t\t<meta property=\"article:published_time\" content=\"2016-03-10T03:09:37+00:00\" \/>\n\t\t<meta property=\"article:modified_time\" content=\"2026-03-10T03:12:00+00:00\" \/>\n\t\t<meta name=\"twitter:card\" content=\"summary_large_image\" \/>\n\t\t<meta name=\"twitter:title\" content=\"Go-ICP \u30b0\u30ed\u30fc\u30d0\u30eb\u6700\u9069\u306aICP -Globally optimal ICP(2015 PAMI)-\u306e\u89e3\u8aac - \u682a\u5f0f\u4f1a\u793e\u30c7\u30f3\u30bd\u30fc\u30a2\u30a4\u30c6\u30a3\u30fc\u30e9\u30dc\u30e9\u30c8\u30ea\" \/>\n\t\t<meta name=\"twitter:description\" content=\"\u5148\u65e5\u793e\u5185\u306e\u52c9\u5f37\u4f1a\u3067\uff0c\u30b0\u30ed\u30fc\u30d0\u30eb\u6700\u9069\u306aIterative Closest Point(ICP)\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u201dGo-ICP\u201d\u306b\u3064\u3044\u3066\u7d39\u4ecb\u3057\u307e\u3057\u305f\uff0e ICP\u306f\u6709\u540d\u306a\u3068\u3053\u308d\u3067\u306fKinect Fusion\u306a\u3069\uff0c3\u6b21\u5143\u70b9\u7fa4\u306e\u30ec\u30b8\u30b9\u30c8\u30ec\u30fc\u30b7\u30e7\u30f3\u306b\u5e83\u304f\u7528\u3044\u3089\u308c\u3066\u3044\u307e\u3059\uff0e\u57fa\u672c\u7684\u306b\u306f\uff0c\u6700\u8fd1\u508d\u70b9\u306e\u5bfe\u5fdc\u4ed8\u3051\u3068\u59ff\u52e2(\u4e26\u9032\u3068\u56de\u8ee2)\u306e\u63a8\u5b9a\u3092\u9806\u6b21\u7e70\u308a\u8fd4\u3057\u3066\u3044\u304f\u3053\u3068\u3067\uff0c\u70b9\u7fa4\u9593\u306e2\u4e57\u8aa4\u5dee\u3092\u6700\u5c0f\u306b\u3059\u308b\u3088\u3046\u306a\u59ff\u52e2\u3092\u898b\u3064\u3051\u3088\u3046\u3068\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3067\u3059\uff0e ICP\u306f\u539f\u7406\u4e0a\uff0c\u70b9\u7fa4\u9593\u306e\u59ff\u52e2\u304c\u3042\u308b\u7a0b\u5ea6\u96e2\u308c\u308b\u3068\u5c40\u6240\u89e3\u306b\u9665\u3063\u3066\u3057\u307e\u3044\u6b63\u3057\u304f\u30ec\u30b8\u30b9\u30c8\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u304d\u306a\u3044\u3068\u3044\u3046\u8ab2\u984c\u304c\u3042\u308a\u307e\u3059\uff0e \u305d\u3053\u3067\uff0c\u5c40\u6240\u6027\u3092\u6539\u5584\u3057\u305f\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0(SoftAssign \u306a\u3069)\u3084\uff0c\u30ed\u30fc\u30ab\u30eb\u306a\u7279\u5fb4(Spin Image\u30844PCS\u306a\u3069)\u3092\u7528\u3044\u3066\u5927\u57df\u7684\u306b\u30ec\u30b8\u30b9\u30c8\u30ec\u30fc\u30b7\u30e7\u30f3\u3059\u308b\u624b\u6cd5\u306a\u3069\u591a\u69d8\u306a\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u304c\u63d0\u6848\u3055\u308c\u3066\u3044\u307e\u3059\u304c\uff0c\u30b0\u30ed\u30fc\u30d0\u30eb\u201d\u6700\u9069\u201d\u306a\u70b9\u7fa4\u306e\u30ec\u30b8\u30b9\u30c8\u30ec\u30fc\u30b7\u30e7\u30f3\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306f\u3042\u307e\u308a\u63d0\u6848\u3055\u308c\u3066\u3044\u307e\u305b\u3093\u3067\u3057\u305f\uff0e 2013 ICCV,2015 PAMI\u306e\u8ad6\u6587\u3067\u30b0\u30ed\u30fc\u30d0\u30eb\u6700\u9069\u306aICP\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0Go-ICP\u304c\u767a\u8868\u3055\u308c\u307e\u3057\u305f\uff0e\u8a73\u3057\u304f\u306f\u30b9\u30e9\u30a4\u30c9\u3067\u89e3\u8aac\u3057\u3066\u3044\u307e\u3059\u304c\uff0cBranch and Bound(\u5206\u679d\u9650\u5b9a)\u3068Voxel ICP\u306e\u7d44\u307f\u5408\u308f\u305b\u3067\u52b9\u7387\u7684\u306bSE(3)\u306e6\u81ea\u7531\u5ea6\u30d1\u30e9\u30e1\u30fc\u30bf\u7a7a\u9593\u304b\u3089\u6700\u9069\u306a\u89e3\u3092\u63a2\u3057\u307e\u3059\uff0e \u8457\u8005\u306e\u30da\u30fc\u30b8\u306b\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u304c\u516c\u958b\u3055\u308c\u3066\u3044\u307e\u3059\u306e\u3067\u7c21\u5358\u306b\u8a66\u3059\u3053\u3068\u304c\u3067\u304d\u307e\u3059\uff0e\u516c\u958b\u3055\u308c\u3066\u3044\u308b\u30bd\u30fc\u30b9\u306f\u30c6\u30ad\u30b9\u30c8\u30d5\u30a1\u30a4\u30eb\u304b\u3089\u70b9\u7fa4\u30c7\u30fc\u30bf\u3092\u8aad\u307f\u8fbc\u3093\u3067\u59ff\u52e2\u3092\u30c6\u30ad\u30b9\u30c8\u30d5\u30a1\u30a4\u30eb\u3067\u66f8\u304d\u51fa\u3059\u4ed5\u69d8\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u304c\uff0c\u5916\u90e8\u30e9\u30a4\u30d6\u30e9\u30ea\u306e\u4f9d\u5b58\u304c\u306a\u304f\u7c21\u5358\u306bMatlab\u306emex\u95a2\u6570\u3092\u4f5c\u6210\u3067\u304d\u307e\u3059\u306e\u3067\uff0c\u3044\u308d\u3044\u308d\u70b9\u7fa4\u3092\u5909\u3048\u3066\u8a66\u3057\u305f\u3044\u5834\u5408\u306fmex\u5316\u304c\u30aa\u30b9\u30b9\u30e1\u3067\u3059\uff0e\" \/>\n\t\t<meta name=\"twitter:image\" content=\"https:\/\/d-itlab.co.jp\/wp-content\/uploads\/2025\/07\/itlab_OGP.jpg\" \/>\n\t\t<script type=\"application\/ld+json\" class=\"aioseo-schema\">\n\t\t\t{\"@context\":\"https:\\\/\\\/schema.org\",\"@graph\":[{\"@type\":\"BlogPosting\",\"@id\":\"https:\\\/\\\/d-itlab.co.jp\\\/en\\\/blog\\\/20160310\\\/#blogposting\",\"name\":\"Go-ICP \\u30b0\\u30ed\\u30fc\\u30d0\\u30eb\\u6700\\u9069\\u306aICP -Globally optimal ICP(2015 PAMI)-\\u306e\\u89e3\\u8aac - \\u682a\\u5f0f\\u4f1a\\u793e\\u30c7\\u30f3\\u30bd\\u30fc\\u30a2\\u30a4\\u30c6\\u30a3\\u30fc\\u30e9\\u30dc\\u30e9\\u30c8\\u30ea\",\"headline\":\"Go-ICP \\u30b0\\u30ed\\u30fc\\u30d0\\u30eb\\u6700\\u9069\\u306aICP -Globally optimal ICP(2015 PAMI)-\\u306e\\u89e3\\u8aac\",\"author\":{\"@id\":\"https:\\\/\\\/d-itlab.co.jp\\\/author\\\/aem_admin\\\/#author\"},\"publisher\":{\"@id\":\"https:\\\/\\\/d-itlab.co.jp\\\/#organization\"},\"datePublished\":\"2016-03-10T12:09:37+09:00\",\"dateModified\":\"2026-03-10T12:12:00+09:00\",\"inLanguage\":\"en-US\",\"mainEntityOfPage\":{\"@id\":\"https:\\\/\\\/d-itlab.co.jp\\\/en\\\/blog\\\/20160310\\\/#webpage\"},\"isPartOf\":{\"@id\":\"https:\\\/\\\/d-itlab.co.jp\\\/en\\\/blog\\\/20160310\\\/#webpage\"},\"articleSection\":\"Seminar, \\u95a2\\u5ddd \\u96c4\\u4ecb\"},{\"@type\":\"BreadcrumbList\",\"@id\":\"https:\\\/\\\/d-itlab.co.jp\\\/en\\\/blog\\\/20160310\\\/#breadcrumblist\",\"itemListElement\":[{\"@type\":\"ListItem\",\"@id\":\"https:\\\/\\\/d-itlab.co.jp#listItem\",\"position\":1,\"name\":\"Home\",\"item\":\"https:\\\/\\\/d-itlab.co.jp\",\"nextItem\":{\"@type\":\"ListItem\",\"@id\":\"https:\\\/\\\/d-itlab.co.jp\\\/en#listItem\",\"name\":\"\\u6280\\u8853\\u8005\\u30d6\\u30ed\\u30b0\"}},{\"@type\":\"ListItem\",\"@id\":\"https:\\\/\\\/d-itlab.co.jp\\\/en#listItem\",\"position\":2,\"name\":\"\\u6280\\u8853\\u8005\\u30d6\\u30ed\\u30b0\",\"item\":\"https:\\\/\\\/d-itlab.co.jp\\\/en\",\"nextItem\":{\"@type\":\"ListItem\",\"@id\":\"https:\\\/\\\/d-itlab.co.jp\\\/en\\\/category\\\/round-lecture\\\/#listItem\",\"name\":\"Seminar\"},\"previousItem\":{\"@type\":\"ListItem\",\"@id\":\"https:\\\/\\\/d-itlab.co.jp#listItem\",\"name\":\"Home\"}},{\"@type\":\"ListItem\",\"@id\":\"https:\\\/\\\/d-itlab.co.jp\\\/en\\\/category\\\/round-lecture\\\/#listItem\",\"position\":3,\"name\":\"Seminar\",\"item\":\"https:\\\/\\\/d-itlab.co.jp\\\/en\\\/category\\\/round-lecture\\\/\",\"nextItem\":{\"@type\":\"ListItem\",\"@id\":\"https:\\\/\\\/d-itlab.co.jp\\\/en\\\/blog\\\/20160310\\\/#listItem\",\"name\":\"Go-ICP \\u30b0\\u30ed\\u30fc\\u30d0\\u30eb\\u6700\\u9069\\u306aICP -Globally optimal ICP(2015 PAMI)-\\u306e\\u89e3\\u8aac\"},\"previousItem\":{\"@type\":\"ListItem\",\"@id\":\"https:\\\/\\\/d-itlab.co.jp\\\/en#listItem\",\"name\":\"\\u6280\\u8853\\u8005\\u30d6\\u30ed\\u30b0\"}},{\"@type\":\"ListItem\",\"@id\":\"https:\\\/\\\/d-itlab.co.jp\\\/en\\\/blog\\\/20160310\\\/#listItem\",\"position\":4,\"name\":\"Go-ICP \\u30b0\\u30ed\\u30fc\\u30d0\\u30eb\\u6700\\u9069\\u306aICP -Globally optimal ICP(2015 PAMI)-\\u306e\\u89e3\\u8aac\",\"previousItem\":{\"@type\":\"ListItem\",\"@id\":\"https:\\\/\\\/d-itlab.co.jp\\\/en\\\/category\\\/round-lecture\\\/#listItem\",\"name\":\"Seminar\"}}]},{\"@type\":\"Organization\",\"@id\":\"https:\\\/\\\/d-itlab.co.jp\\\/#organization\",\"name\":\"\\u682a\\u5f0f\\u4f1a\\u793e\\u30c7\\u30f3\\u30bd\\u30fc\\u30a2\\u30a4\\u30c6\\u30a3\\u30fc\\u30e9\\u30dc\\u30e9\\u30c8\\u30ea\",\"description\":\"\\u591a\\u69d8\\u306a\\u4eba\\u3001\\u591a\\u69d8\\u306a\\u6280\\u8853\\u3001\\u591a\\u69d8\\u306a\\u601d\\u3044\\u304c\\u30aa\\u30fc\\u30d7\\u30f3\\u306b\\u4ea4\\u3058\\u308a\\u5408\\u3046\\u7814\\u7a76\\u958b\\u767a\\u4f01\\u696d\\u3002\\u305d\\u308c\\u304c\\u30c7\\u30f3\\u30bd\\u30fc\\u30a2\\u30a4\\u30c6\\u30a3\\u30fc\\u30e9\\u30dc\\u30e9\\u30c8\\u30ea\\u3067\\u3059\\u3002\\u308f\\u305f\\u3057\\u305f\\u3061\\u306f\\u81ea\\u7531\\u306a\\u767a\\u60f3\\u3067\\u307e\\u3060\\u898b\\u306c\\u4e16\\u754c\\u306e\\u30ef\\u30af\\u30ef\\u30af\\u3092\\u5275\\u9020\\u3057\\u307e\\u3059\\u3002\",\"url\":\"https:\\\/\\\/d-itlab.co.jp\\\/\"},{\"@type\":\"Person\",\"@id\":\"https:\\\/\\\/d-itlab.co.jp\\\/author\\\/aem_admin\\\/#author\",\"url\":\"https:\\\/\\\/d-itlab.co.jp\\\/author\\\/aem_admin\\\/\",\"name\":\"aem_admin\",\"image\":{\"@type\":\"ImageObject\",\"@id\":\"https:\\\/\\\/d-itlab.co.jp\\\/en\\\/blog\\\/20160310\\\/#authorImage\",\"url\":\"https:\\\/\\\/secure.gravatar.com\\\/avatar\\\/50ebe23fcef3c70c0aeed15562288d9b41c62dc5031c4db36c9743fad3121427?s=96&d=mm&r=g\",\"width\":96,\"height\":96,\"caption\":\"aem_admin\"}},{\"@type\":\"WebPage\",\"@id\":\"https:\\\/\\\/d-itlab.co.jp\\\/en\\\/blog\\\/20160310\\\/#webpage\",\"url\":\"https:\\\/\\\/d-itlab.co.jp\\\/en\\\/blog\\\/20160310\\\/\",\"name\":\"Go-ICP \\u30b0\\u30ed\\u30fc\\u30d0\\u30eb\\u6700\\u9069\\u306aICP -Globally optimal ICP(2015 PAMI)-\\u306e\\u89e3\\u8aac - \\u682a\\u5f0f\\u4f1a\\u793e\\u30c7\\u30f3\\u30bd\\u30fc\\u30a2\\u30a4\\u30c6\\u30a3\\u30fc\\u30e9\\u30dc\\u30e9\\u30c8\\u30ea\",\"description\":\"\\u5148\\u65e5\\u793e\\u5185\\u306e\\u52c9\\u5f37\\u4f1a\\u3067\\uff0c\\u30b0\\u30ed\\u30fc\\u30d0\\u30eb\\u6700\\u9069\\u306aIterative Closest Point(ICP)\\u30a2\\u30eb\\u30b4\\u30ea\\u30ba\\u30e0\\u201dGo-ICP\\u201d\\u306b\\u3064\\u3044\\u3066\\u7d39\\u4ecb\\u3057\\u307e\\u3057\\u305f\\uff0e ICP\\u306f\\u6709\\u540d\\u306a\\u3068\\u3053\\u308d\\u3067\\u306fKinect Fusion\\u306a\\u3069\\uff0c3\\u6b21\\u5143\\u70b9\\u7fa4\\u306e\\u30ec\\u30b8\\u30b9\\u30c8\\u30ec\\u30fc\\u30b7\\u30e7\\u30f3\\u306b\\u5e83\\u304f\\u7528\\u3044\\u3089\\u308c\\u3066\\u3044\\u307e\\u3059\\uff0e\\u57fa\\u672c\\u7684\\u306b\\u306f\\uff0c\\u6700\\u8fd1\\u508d\\u70b9\\u306e\\u5bfe\\u5fdc\\u4ed8\\u3051\\u3068\\u59ff\\u52e2(\\u4e26\\u9032\\u3068\\u56de\\u8ee2)\\u306e\\u63a8\\u5b9a\\u3092\\u9806\\u6b21\\u7e70\\u308a\\u8fd4\\u3057\\u3066\\u3044\\u304f\\u3053\\u3068\\u3067\\uff0c\\u70b9\\u7fa4\\u9593\\u306e2\\u4e57\\u8aa4\\u5dee\\u3092\\u6700\\u5c0f\\u306b\\u3059\\u308b\\u3088\\u3046\\u306a\\u59ff\\u52e2\\u3092\\u898b\\u3064\\u3051\\u3088\\u3046\\u3068\\u30a2\\u30eb\\u30b4\\u30ea\\u30ba\\u30e0\\u3067\\u3059\\uff0e ICP\\u306f\\u539f\\u7406\\u4e0a\\uff0c\\u70b9\\u7fa4\\u9593\\u306e\\u59ff\\u52e2\\u304c\\u3042\\u308b\\u7a0b\\u5ea6\\u96e2\\u308c\\u308b\\u3068\\u5c40\\u6240\\u89e3\\u306b\\u9665\\u3063\\u3066\\u3057\\u307e\\u3044\\u6b63\\u3057\\u304f\\u30ec\\u30b8\\u30b9\\u30c8\\u30ec\\u30fc\\u30b7\\u30e7\\u30f3\\u3067\\u304d\\u306a\\u3044\\u3068\\u3044\\u3046\\u8ab2\\u984c\\u304c\\u3042\\u308a\\u307e\\u3059\\uff0e \\u305d\\u3053\\u3067\\uff0c\\u5c40\\u6240\\u6027\\u3092\\u6539\\u5584\\u3057\\u305f\\u30a2\\u30eb\\u30b4\\u30ea\\u30ba\\u30e0(SoftAssign \\u306a\\u3069)\\u3084\\uff0c\\u30ed\\u30fc\\u30ab\\u30eb\\u306a\\u7279\\u5fb4(Spin Image\\u30844PCS\\u306a\\u3069)\\u3092\\u7528\\u3044\\u3066\\u5927\\u57df\\u7684\\u306b\\u30ec\\u30b8\\u30b9\\u30c8\\u30ec\\u30fc\\u30b7\\u30e7\\u30f3\\u3059\\u308b\\u624b\\u6cd5\\u306a\\u3069\\u591a\\u69d8\\u306a\\u30a2\\u30eb\\u30b4\\u30ea\\u30ba\\u30e0\\u304c\\u63d0\\u6848\\u3055\\u308c\\u3066\\u3044\\u307e\\u3059\\u304c\\uff0c\\u30b0\\u30ed\\u30fc\\u30d0\\u30eb\\u201d\\u6700\\u9069\\u201d\\u306a\\u70b9\\u7fa4\\u306e\\u30ec\\u30b8\\u30b9\\u30c8\\u30ec\\u30fc\\u30b7\\u30e7\\u30f3\\u30a2\\u30eb\\u30b4\\u30ea\\u30ba\\u30e0\\u306f\\u3042\\u307e\\u308a\\u63d0\\u6848\\u3055\\u308c\\u3066\\u3044\\u307e\\u305b\\u3093\\u3067\\u3057\\u305f\\uff0e 2013 ICCV,2015 PAMI\\u306e\\u8ad6\\u6587\\u3067\\u30b0\\u30ed\\u30fc\\u30d0\\u30eb\\u6700\\u9069\\u306aICP\\u30a2\\u30eb\\u30b4\\u30ea\\u30ba\\u30e0Go-ICP\\u304c\\u767a\\u8868\\u3055\\u308c\\u307e\\u3057\\u305f\\uff0e\\u8a73\\u3057\\u304f\\u306f\\u30b9\\u30e9\\u30a4\\u30c9\\u3067\\u89e3\\u8aac\\u3057\\u3066\\u3044\\u307e\\u3059\\u304c\\uff0cBranch and Bound(\\u5206\\u679d\\u9650\\u5b9a)\\u3068Voxel ICP\\u306e\\u7d44\\u307f\\u5408\\u308f\\u305b\\u3067\\u52b9\\u7387\\u7684\\u306bSE(3)\\u306e6\\u81ea\\u7531\\u5ea6\\u30d1\\u30e9\\u30e1\\u30fc\\u30bf\\u7a7a\\u9593\\u304b\\u3089\\u6700\\u9069\\u306a\\u89e3\\u3092\\u63a2\\u3057\\u307e\\u3059\\uff0e \\u8457\\u8005\\u306e\\u30da\\u30fc\\u30b8\\u306b\\u30bd\\u30fc\\u30b9\\u30b3\\u30fc\\u30c9\\u304c\\u516c\\u958b\\u3055\\u308c\\u3066\\u3044\\u307e\\u3059\\u306e\\u3067\\u7c21\\u5358\\u306b\\u8a66\\u3059\\u3053\\u3068\\u304c\\u3067\\u304d\\u307e\\u3059\\uff0e\\u516c\\u958b\\u3055\\u308c\\u3066\\u3044\\u308b\\u30bd\\u30fc\\u30b9\\u306f\\u30c6\\u30ad\\u30b9\\u30c8\\u30d5\\u30a1\\u30a4\\u30eb\\u304b\\u3089\\u70b9\\u7fa4\\u30c7\\u30fc\\u30bf\\u3092\\u8aad\\u307f\\u8fbc\\u3093\\u3067\\u59ff\\u52e2\\u3092\\u30c6\\u30ad\\u30b9\\u30c8\\u30d5\\u30a1\\u30a4\\u30eb\\u3067\\u66f8\\u304d\\u51fa\\u3059\\u4ed5\\u69d8\\u306b\\u306a\\u3063\\u3066\\u3044\\u307e\\u3059\\u304c\\uff0c\\u5916\\u90e8\\u30e9\\u30a4\\u30d6\\u30e9\\u30ea\\u306e\\u4f9d\\u5b58\\u304c\\u306a\\u304f\\u7c21\\u5358\\u306bMatlab\\u306emex\\u95a2\\u6570\\u3092\\u4f5c\\u6210\\u3067\\u304d\\u307e\\u3059\\u306e\\u3067\\uff0c\\u3044\\u308d\\u3044\\u308d\\u70b9\\u7fa4\\u3092\\u5909\\u3048\\u3066\\u8a66\\u3057\\u305f\\u3044\\u5834\\u5408\\u306fmex\\u5316\\u304c\\u30aa\\u30b9\\u30b9\\u30e1\\u3067\\u3059\\uff0e\",\"inLanguage\":\"en-US\",\"isPartOf\":{\"@id\":\"https:\\\/\\\/d-itlab.co.jp\\\/#website\"},\"breadcrumb\":{\"@id\":\"https:\\\/\\\/d-itlab.co.jp\\\/en\\\/blog\\\/20160310\\\/#breadcrumblist\"},\"author\":{\"@id\":\"https:\\\/\\\/d-itlab.co.jp\\\/author\\\/aem_admin\\\/#author\"},\"creator\":{\"@id\":\"https:\\\/\\\/d-itlab.co.jp\\\/author\\\/aem_admin\\\/#author\"},\"datePublished\":\"2016-03-10T12:09:37+09:00\",\"dateModified\":\"2026-03-10T12:12:00+09:00\"},{\"@type\":\"WebSite\",\"@id\":\"https:\\\/\\\/d-itlab.co.jp\\\/#website\",\"url\":\"https:\\\/\\\/d-itlab.co.jp\\\/\",\"name\":\"\\u682a\\u5f0f\\u4f1a\\u793e\\u30c7\\u30f3\\u30bd\\u30fc\\u30a2\\u30a4\\u30c6\\u30a3\\u30fc\\u30e9\\u30dc\\u30e9\\u30c8\\u30ea\",\"description\":\"\\u591a\\u69d8\\u306a\\u4eba\\u3001\\u591a\\u69d8\\u306a\\u6280\\u8853\\u3001\\u591a\\u69d8\\u306a\\u601d\\u3044\\u304c\\u30aa\\u30fc\\u30d7\\u30f3\\u306b\\u4ea4\\u3058\\u308a\\u5408\\u3046\\u7814\\u7a76\\u958b\\u767a\\u4f01\\u696d\\u3002\\u305d\\u308c\\u304c\\u30c7\\u30f3\\u30bd\\u30fc\\u30a2\\u30a4\\u30c6\\u30a3\\u30fc\\u30e9\\u30dc\\u30e9\\u30c8\\u30ea\\u3067\\u3059\\u3002\\u308f\\u305f\\u3057\\u305f\\u3061\\u306f\\u81ea\\u7531\\u306a\\u767a\\u60f3\\u3067\\u307e\\u3060\\u898b\\u306c\\u4e16\\u754c\\u306e\\u30ef\\u30af\\u30ef\\u30af\\u3092\\u5275\\u9020\\u3057\\u307e\\u3059\\u3002\",\"inLanguage\":\"en-US\",\"publisher\":{\"@id\":\"https:\\\/\\\/d-itlab.co.jp\\\/#organization\"}}]}\n\t\t<\/script>\n\t\t<!-- All in One SEO -->\n\n","aioseo_head_json":{"title":"Go-ICP \u30b0\u30ed\u30fc\u30d0\u30eb\u6700\u9069\u306aICP -Globally optimal ICP(2015 PAMI)-\u306e\u89e3\u8aac - \u682a\u5f0f\u4f1a\u793e\u30c7\u30f3\u30bd\u30fc\u30a2\u30a4\u30c6\u30a3\u30fc\u30e9\u30dc\u30e9\u30c8\u30ea","description":"\u5148\u65e5\u793e\u5185\u306e\u52c9\u5f37\u4f1a\u3067\uff0c\u30b0\u30ed\u30fc\u30d0\u30eb\u6700\u9069\u306aIterative Closest Point(ICP)\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u201dGo-ICP\u201d\u306b\u3064\u3044\u3066\u7d39\u4ecb\u3057\u307e\u3057\u305f\uff0e ICP\u306f\u6709\u540d\u306a\u3068\u3053\u308d\u3067\u306fKinect Fusion\u306a\u3069\uff0c3\u6b21\u5143\u70b9\u7fa4\u306e\u30ec\u30b8\u30b9\u30c8\u30ec\u30fc\u30b7\u30e7\u30f3\u306b\u5e83\u304f\u7528\u3044\u3089\u308c\u3066\u3044\u307e\u3059\uff0e\u57fa\u672c\u7684\u306b\u306f\uff0c\u6700\u8fd1\u508d\u70b9\u306e\u5bfe\u5fdc\u4ed8\u3051\u3068\u59ff\u52e2(\u4e26\u9032\u3068\u56de\u8ee2)\u306e\u63a8\u5b9a\u3092\u9806\u6b21\u7e70\u308a\u8fd4\u3057\u3066\u3044\u304f\u3053\u3068\u3067\uff0c\u70b9\u7fa4\u9593\u306e2\u4e57\u8aa4\u5dee\u3092\u6700\u5c0f\u306b\u3059\u308b\u3088\u3046\u306a\u59ff\u52e2\u3092\u898b\u3064\u3051\u3088\u3046\u3068\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3067\u3059\uff0e ICP\u306f\u539f\u7406\u4e0a\uff0c\u70b9\u7fa4\u9593\u306e\u59ff\u52e2\u304c\u3042\u308b\u7a0b\u5ea6\u96e2\u308c\u308b\u3068\u5c40\u6240\u89e3\u306b\u9665\u3063\u3066\u3057\u307e\u3044\u6b63\u3057\u304f\u30ec\u30b8\u30b9\u30c8\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u304d\u306a\u3044\u3068\u3044\u3046\u8ab2\u984c\u304c\u3042\u308a\u307e\u3059\uff0e \u305d\u3053\u3067\uff0c\u5c40\u6240\u6027\u3092\u6539\u5584\u3057\u305f\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0(SoftAssign \u306a\u3069)\u3084\uff0c\u30ed\u30fc\u30ab\u30eb\u306a\u7279\u5fb4(Spin Image\u30844PCS\u306a\u3069)\u3092\u7528\u3044\u3066\u5927\u57df\u7684\u306b\u30ec\u30b8\u30b9\u30c8\u30ec\u30fc\u30b7\u30e7\u30f3\u3059\u308b\u624b\u6cd5\u306a\u3069\u591a\u69d8\u306a\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u304c\u63d0\u6848\u3055\u308c\u3066\u3044\u307e\u3059\u304c\uff0c\u30b0\u30ed\u30fc\u30d0\u30eb\u201d\u6700\u9069\u201d\u306a\u70b9\u7fa4\u306e\u30ec\u30b8\u30b9\u30c8\u30ec\u30fc\u30b7\u30e7\u30f3\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306f\u3042\u307e\u308a\u63d0\u6848\u3055\u308c\u3066\u3044\u307e\u305b\u3093\u3067\u3057\u305f\uff0e 2013 ICCV,2015 PAMI\u306e\u8ad6\u6587\u3067\u30b0\u30ed\u30fc\u30d0\u30eb\u6700\u9069\u306aICP\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0Go-ICP\u304c\u767a\u8868\u3055\u308c\u307e\u3057\u305f\uff0e\u8a73\u3057\u304f\u306f\u30b9\u30e9\u30a4\u30c9\u3067\u89e3\u8aac\u3057\u3066\u3044\u307e\u3059\u304c\uff0cBranch and Bound(\u5206\u679d\u9650\u5b9a)\u3068Voxel ICP\u306e\u7d44\u307f\u5408\u308f\u305b\u3067\u52b9\u7387\u7684\u306bSE(3)\u306e6\u81ea\u7531\u5ea6\u30d1\u30e9\u30e1\u30fc\u30bf\u7a7a\u9593\u304b\u3089\u6700\u9069\u306a\u89e3\u3092\u63a2\u3057\u307e\u3059\uff0e \u8457\u8005\u306e\u30da\u30fc\u30b8\u306b\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u304c\u516c\u958b\u3055\u308c\u3066\u3044\u307e\u3059\u306e\u3067\u7c21\u5358\u306b\u8a66\u3059\u3053\u3068\u304c\u3067\u304d\u307e\u3059\uff0e\u516c\u958b\u3055\u308c\u3066\u3044\u308b\u30bd\u30fc\u30b9\u306f\u30c6\u30ad\u30b9\u30c8\u30d5\u30a1\u30a4\u30eb\u304b\u3089\u70b9\u7fa4\u30c7\u30fc\u30bf\u3092\u8aad\u307f\u8fbc\u3093\u3067\u59ff\u52e2\u3092\u30c6\u30ad\u30b9\u30c8\u30d5\u30a1\u30a4\u30eb\u3067\u66f8\u304d\u51fa\u3059\u4ed5\u69d8\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u304c\uff0c\u5916\u90e8\u30e9\u30a4\u30d6\u30e9\u30ea\u306e\u4f9d\u5b58\u304c\u306a\u304f\u7c21\u5358\u306bMatlab\u306emex\u95a2\u6570\u3092\u4f5c\u6210\u3067\u304d\u307e\u3059\u306e\u3067\uff0c\u3044\u308d\u3044\u308d\u70b9\u7fa4\u3092\u5909\u3048\u3066\u8a66\u3057\u305f\u3044\u5834\u5408\u306fmex\u5316\u304c\u30aa\u30b9\u30b9\u30e1\u3067\u3059\uff0e","canonical_url":"https:\/\/d-itlab.co.jp\/en\/blog\/20160310\/","robots":"max-image-preview:large","keywords":"","webmasterTools":{"miscellaneous":""},"schema":{"@context":"https:\/\/schema.org","@graph":[{"@type":"BlogPosting","@id":"https:\/\/d-itlab.co.jp\/en\/blog\/20160310\/#blogposting","name":"Go-ICP \u30b0\u30ed\u30fc\u30d0\u30eb\u6700\u9069\u306aICP -Globally optimal ICP(2015 PAMI)-\u306e\u89e3\u8aac - \u682a\u5f0f\u4f1a\u793e\u30c7\u30f3\u30bd\u30fc\u30a2\u30a4\u30c6\u30a3\u30fc\u30e9\u30dc\u30e9\u30c8\u30ea","headline":"Go-ICP \u30b0\u30ed\u30fc\u30d0\u30eb\u6700\u9069\u306aICP -Globally optimal ICP(2015 PAMI)-\u306e\u89e3\u8aac","author":{"@id":"https:\/\/d-itlab.co.jp\/author\/aem_admin\/#author"},"publisher":{"@id":"https:\/\/d-itlab.co.jp\/#organization"},"datePublished":"2016-03-10T12:09:37+09:00","dateModified":"2026-03-10T12:12:00+09:00","inLanguage":"en-US","mainEntityOfPage":{"@id":"https:\/\/d-itlab.co.jp\/en\/blog\/20160310\/#webpage"},"isPartOf":{"@id":"https:\/\/d-itlab.co.jp\/en\/blog\/20160310\/#webpage"},"articleSection":"Seminar, \u95a2\u5ddd \u96c4\u4ecb"},{"@type":"BreadcrumbList","@id":"https:\/\/d-itlab.co.jp\/en\/blog\/20160310\/#breadcrumblist","itemListElement":[{"@type":"ListItem","@id":"https:\/\/d-itlab.co.jp#listItem","position":1,"name":"Home","item":"https:\/\/d-itlab.co.jp","nextItem":{"@type":"ListItem","@id":"https:\/\/d-itlab.co.jp\/en#listItem","name":"\u6280\u8853\u8005\u30d6\u30ed\u30b0"}},{"@type":"ListItem","@id":"https:\/\/d-itlab.co.jp\/en#listItem","position":2,"name":"\u6280\u8853\u8005\u30d6\u30ed\u30b0","item":"https:\/\/d-itlab.co.jp\/en","nextItem":{"@type":"ListItem","@id":"https:\/\/d-itlab.co.jp\/en\/category\/round-lecture\/#listItem","name":"Seminar"},"previousItem":{"@type":"ListItem","@id":"https:\/\/d-itlab.co.jp#listItem","name":"Home"}},{"@type":"ListItem","@id":"https:\/\/d-itlab.co.jp\/en\/category\/round-lecture\/#listItem","position":3,"name":"Seminar","item":"https:\/\/d-itlab.co.jp\/en\/category\/round-lecture\/","nextItem":{"@type":"ListItem","@id":"https:\/\/d-itlab.co.jp\/en\/blog\/20160310\/#listItem","name":"Go-ICP \u30b0\u30ed\u30fc\u30d0\u30eb\u6700\u9069\u306aICP -Globally optimal ICP(2015 PAMI)-\u306e\u89e3\u8aac"},"previousItem":{"@type":"ListItem","@id":"https:\/\/d-itlab.co.jp\/en#listItem","name":"\u6280\u8853\u8005\u30d6\u30ed\u30b0"}},{"@type":"ListItem","@id":"https:\/\/d-itlab.co.jp\/en\/blog\/20160310\/#listItem","position":4,"name":"Go-ICP \u30b0\u30ed\u30fc\u30d0\u30eb\u6700\u9069\u306aICP -Globally optimal ICP(2015 PAMI)-\u306e\u89e3\u8aac","previousItem":{"@type":"ListItem","@id":"https:\/\/d-itlab.co.jp\/en\/category\/round-lecture\/#listItem","name":"Seminar"}}]},{"@type":"Organization","@id":"https:\/\/d-itlab.co.jp\/#organization","name":"\u682a\u5f0f\u4f1a\u793e\u30c7\u30f3\u30bd\u30fc\u30a2\u30a4\u30c6\u30a3\u30fc\u30e9\u30dc\u30e9\u30c8\u30ea","description":"\u591a\u69d8\u306a\u4eba\u3001\u591a\u69d8\u306a\u6280\u8853\u3001\u591a\u69d8\u306a\u601d\u3044\u304c\u30aa\u30fc\u30d7\u30f3\u306b\u4ea4\u3058\u308a\u5408\u3046\u7814\u7a76\u958b\u767a\u4f01\u696d\u3002\u305d\u308c\u304c\u30c7\u30f3\u30bd\u30fc\u30a2\u30a4\u30c6\u30a3\u30fc\u30e9\u30dc\u30e9\u30c8\u30ea\u3067\u3059\u3002\u308f\u305f\u3057\u305f\u3061\u306f\u81ea\u7531\u306a\u767a\u60f3\u3067\u307e\u3060\u898b\u306c\u4e16\u754c\u306e\u30ef\u30af\u30ef\u30af\u3092\u5275\u9020\u3057\u307e\u3059\u3002","url":"https:\/\/d-itlab.co.jp\/"},{"@type":"Person","@id":"https:\/\/d-itlab.co.jp\/author\/aem_admin\/#author","url":"https:\/\/d-itlab.co.jp\/author\/aem_admin\/","name":"aem_admin","image":{"@type":"ImageObject","@id":"https:\/\/d-itlab.co.jp\/en\/blog\/20160310\/#authorImage","url":"https:\/\/secure.gravatar.com\/avatar\/50ebe23fcef3c70c0aeed15562288d9b41c62dc5031c4db36c9743fad3121427?s=96&d=mm&r=g","width":96,"height":96,"caption":"aem_admin"}},{"@type":"WebPage","@id":"https:\/\/d-itlab.co.jp\/en\/blog\/20160310\/#webpage","url":"https:\/\/d-itlab.co.jp\/en\/blog\/20160310\/","name":"Go-ICP \u30b0\u30ed\u30fc\u30d0\u30eb\u6700\u9069\u306aICP -Globally optimal ICP(2015 PAMI)-\u306e\u89e3\u8aac - \u682a\u5f0f\u4f1a\u793e\u30c7\u30f3\u30bd\u30fc\u30a2\u30a4\u30c6\u30a3\u30fc\u30e9\u30dc\u30e9\u30c8\u30ea","description":"\u5148\u65e5\u793e\u5185\u306e\u52c9\u5f37\u4f1a\u3067\uff0c\u30b0\u30ed\u30fc\u30d0\u30eb\u6700\u9069\u306aIterative Closest Point(ICP)\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u201dGo-ICP\u201d\u306b\u3064\u3044\u3066\u7d39\u4ecb\u3057\u307e\u3057\u305f\uff0e ICP\u306f\u6709\u540d\u306a\u3068\u3053\u308d\u3067\u306fKinect Fusion\u306a\u3069\uff0c3\u6b21\u5143\u70b9\u7fa4\u306e\u30ec\u30b8\u30b9\u30c8\u30ec\u30fc\u30b7\u30e7\u30f3\u306b\u5e83\u304f\u7528\u3044\u3089\u308c\u3066\u3044\u307e\u3059\uff0e\u57fa\u672c\u7684\u306b\u306f\uff0c\u6700\u8fd1\u508d\u70b9\u306e\u5bfe\u5fdc\u4ed8\u3051\u3068\u59ff\u52e2(\u4e26\u9032\u3068\u56de\u8ee2)\u306e\u63a8\u5b9a\u3092\u9806\u6b21\u7e70\u308a\u8fd4\u3057\u3066\u3044\u304f\u3053\u3068\u3067\uff0c\u70b9\u7fa4\u9593\u306e2\u4e57\u8aa4\u5dee\u3092\u6700\u5c0f\u306b\u3059\u308b\u3088\u3046\u306a\u59ff\u52e2\u3092\u898b\u3064\u3051\u3088\u3046\u3068\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3067\u3059\uff0e ICP\u306f\u539f\u7406\u4e0a\uff0c\u70b9\u7fa4\u9593\u306e\u59ff\u52e2\u304c\u3042\u308b\u7a0b\u5ea6\u96e2\u308c\u308b\u3068\u5c40\u6240\u89e3\u306b\u9665\u3063\u3066\u3057\u307e\u3044\u6b63\u3057\u304f\u30ec\u30b8\u30b9\u30c8\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u304d\u306a\u3044\u3068\u3044\u3046\u8ab2\u984c\u304c\u3042\u308a\u307e\u3059\uff0e \u305d\u3053\u3067\uff0c\u5c40\u6240\u6027\u3092\u6539\u5584\u3057\u305f\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0(SoftAssign \u306a\u3069)\u3084\uff0c\u30ed\u30fc\u30ab\u30eb\u306a\u7279\u5fb4(Spin Image\u30844PCS\u306a\u3069)\u3092\u7528\u3044\u3066\u5927\u57df\u7684\u306b\u30ec\u30b8\u30b9\u30c8\u30ec\u30fc\u30b7\u30e7\u30f3\u3059\u308b\u624b\u6cd5\u306a\u3069\u591a\u69d8\u306a\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u304c\u63d0\u6848\u3055\u308c\u3066\u3044\u307e\u3059\u304c\uff0c\u30b0\u30ed\u30fc\u30d0\u30eb\u201d\u6700\u9069\u201d\u306a\u70b9\u7fa4\u306e\u30ec\u30b8\u30b9\u30c8\u30ec\u30fc\u30b7\u30e7\u30f3\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306f\u3042\u307e\u308a\u63d0\u6848\u3055\u308c\u3066\u3044\u307e\u305b\u3093\u3067\u3057\u305f\uff0e 2013 ICCV,2015 PAMI\u306e\u8ad6\u6587\u3067\u30b0\u30ed\u30fc\u30d0\u30eb\u6700\u9069\u306aICP\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0Go-ICP\u304c\u767a\u8868\u3055\u308c\u307e\u3057\u305f\uff0e\u8a73\u3057\u304f\u306f\u30b9\u30e9\u30a4\u30c9\u3067\u89e3\u8aac\u3057\u3066\u3044\u307e\u3059\u304c\uff0cBranch and Bound(\u5206\u679d\u9650\u5b9a)\u3068Voxel ICP\u306e\u7d44\u307f\u5408\u308f\u305b\u3067\u52b9\u7387\u7684\u306bSE(3)\u306e6\u81ea\u7531\u5ea6\u30d1\u30e9\u30e1\u30fc\u30bf\u7a7a\u9593\u304b\u3089\u6700\u9069\u306a\u89e3\u3092\u63a2\u3057\u307e\u3059\uff0e \u8457\u8005\u306e\u30da\u30fc\u30b8\u306b\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u304c\u516c\u958b\u3055\u308c\u3066\u3044\u307e\u3059\u306e\u3067\u7c21\u5358\u306b\u8a66\u3059\u3053\u3068\u304c\u3067\u304d\u307e\u3059\uff0e\u516c\u958b\u3055\u308c\u3066\u3044\u308b\u30bd\u30fc\u30b9\u306f\u30c6\u30ad\u30b9\u30c8\u30d5\u30a1\u30a4\u30eb\u304b\u3089\u70b9\u7fa4\u30c7\u30fc\u30bf\u3092\u8aad\u307f\u8fbc\u3093\u3067\u59ff\u52e2\u3092\u30c6\u30ad\u30b9\u30c8\u30d5\u30a1\u30a4\u30eb\u3067\u66f8\u304d\u51fa\u3059\u4ed5\u69d8\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u304c\uff0c\u5916\u90e8\u30e9\u30a4\u30d6\u30e9\u30ea\u306e\u4f9d\u5b58\u304c\u306a\u304f\u7c21\u5358\u306bMatlab\u306emex\u95a2\u6570\u3092\u4f5c\u6210\u3067\u304d\u307e\u3059\u306e\u3067\uff0c\u3044\u308d\u3044\u308d\u70b9\u7fa4\u3092\u5909\u3048\u3066\u8a66\u3057\u305f\u3044\u5834\u5408\u306fmex\u5316\u304c\u30aa\u30b9\u30b9\u30e1\u3067\u3059\uff0e","inLanguage":"en-US","isPartOf":{"@id":"https:\/\/d-itlab.co.jp\/#website"},"breadcrumb":{"@id":"https:\/\/d-itlab.co.jp\/en\/blog\/20160310\/#breadcrumblist"},"author":{"@id":"https:\/\/d-itlab.co.jp\/author\/aem_admin\/#author"},"creator":{"@id":"https:\/\/d-itlab.co.jp\/author\/aem_admin\/#author"},"datePublished":"2016-03-10T12:09:37+09:00","dateModified":"2026-03-10T12:12:00+09:00"},{"@type":"WebSite","@id":"https:\/\/d-itlab.co.jp\/#website","url":"https:\/\/d-itlab.co.jp\/","name":"\u682a\u5f0f\u4f1a\u793e\u30c7\u30f3\u30bd\u30fc\u30a2\u30a4\u30c6\u30a3\u30fc\u30e9\u30dc\u30e9\u30c8\u30ea","description":"\u591a\u69d8\u306a\u4eba\u3001\u591a\u69d8\u306a\u6280\u8853\u3001\u591a\u69d8\u306a\u601d\u3044\u304c\u30aa\u30fc\u30d7\u30f3\u306b\u4ea4\u3058\u308a\u5408\u3046\u7814\u7a76\u958b\u767a\u4f01\u696d\u3002\u305d\u308c\u304c\u30c7\u30f3\u30bd\u30fc\u30a2\u30a4\u30c6\u30a3\u30fc\u30e9\u30dc\u30e9\u30c8\u30ea\u3067\u3059\u3002\u308f\u305f\u3057\u305f\u3061\u306f\u81ea\u7531\u306a\u767a\u60f3\u3067\u307e\u3060\u898b\u306c\u4e16\u754c\u306e\u30ef\u30af\u30ef\u30af\u3092\u5275\u9020\u3057\u307e\u3059\u3002","inLanguage":"en-US","publisher":{"@id":"https:\/\/d-itlab.co.jp\/#organization"}}]},"og:locale":"en_US","og:site_name":"\u682a\u5f0f\u4f1a\u793e\u30c7\u30f3\u30bd\u30fc\u30a2\u30a4\u30c6\u30a3\u30fc\u30e9\u30dc\u30e9\u30c8\u30ea - \u591a\u69d8\u306a\u4eba\u3001\u591a\u69d8\u306a\u6280\u8853\u3001\u591a\u69d8\u306a\u601d\u3044\u304c\u30aa\u30fc\u30d7\u30f3\u306b\u4ea4\u3058\u308a\u5408\u3046\u7814\u7a76\u958b\u767a\u4f01\u696d\u3002\u305d\u308c\u304c\u30c7\u30f3\u30bd\u30fc\u30a2\u30a4\u30c6\u30a3\u30fc\u30e9\u30dc\u30e9\u30c8\u30ea\u3067\u3059\u3002\u308f\u305f\u3057\u305f\u3061\u306f\u81ea\u7531\u306a\u767a\u60f3\u3067\u307e\u3060\u898b\u306c\u4e16\u754c\u306e\u30ef\u30af\u30ef\u30af\u3092\u5275\u9020\u3057\u307e\u3059\u3002","og:type":"article","og:title":"Go-ICP \u30b0\u30ed\u30fc\u30d0\u30eb\u6700\u9069\u306aICP -Globally optimal ICP(2015 PAMI)-\u306e\u89e3\u8aac - \u682a\u5f0f\u4f1a\u793e\u30c7\u30f3\u30bd\u30fc\u30a2\u30a4\u30c6\u30a3\u30fc\u30e9\u30dc\u30e9\u30c8\u30ea","og:description":"\u5148\u65e5\u793e\u5185\u306e\u52c9\u5f37\u4f1a\u3067\uff0c\u30b0\u30ed\u30fc\u30d0\u30eb\u6700\u9069\u306aIterative Closest Point(ICP)\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u201dGo-ICP\u201d\u306b\u3064\u3044\u3066\u7d39\u4ecb\u3057\u307e\u3057\u305f\uff0e ICP\u306f\u6709\u540d\u306a\u3068\u3053\u308d\u3067\u306fKinect Fusion\u306a\u3069\uff0c3\u6b21\u5143\u70b9\u7fa4\u306e\u30ec\u30b8\u30b9\u30c8\u30ec\u30fc\u30b7\u30e7\u30f3\u306b\u5e83\u304f\u7528\u3044\u3089\u308c\u3066\u3044\u307e\u3059\uff0e\u57fa\u672c\u7684\u306b\u306f\uff0c\u6700\u8fd1\u508d\u70b9\u306e\u5bfe\u5fdc\u4ed8\u3051\u3068\u59ff\u52e2(\u4e26\u9032\u3068\u56de\u8ee2)\u306e\u63a8\u5b9a\u3092\u9806\u6b21\u7e70\u308a\u8fd4\u3057\u3066\u3044\u304f\u3053\u3068\u3067\uff0c\u70b9\u7fa4\u9593\u306e2\u4e57\u8aa4\u5dee\u3092\u6700\u5c0f\u306b\u3059\u308b\u3088\u3046\u306a\u59ff\u52e2\u3092\u898b\u3064\u3051\u3088\u3046\u3068\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3067\u3059\uff0e ICP\u306f\u539f\u7406\u4e0a\uff0c\u70b9\u7fa4\u9593\u306e\u59ff\u52e2\u304c\u3042\u308b\u7a0b\u5ea6\u96e2\u308c\u308b\u3068\u5c40\u6240\u89e3\u306b\u9665\u3063\u3066\u3057\u307e\u3044\u6b63\u3057\u304f\u30ec\u30b8\u30b9\u30c8\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u304d\u306a\u3044\u3068\u3044\u3046\u8ab2\u984c\u304c\u3042\u308a\u307e\u3059\uff0e \u305d\u3053\u3067\uff0c\u5c40\u6240\u6027\u3092\u6539\u5584\u3057\u305f\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0(SoftAssign \u306a\u3069)\u3084\uff0c\u30ed\u30fc\u30ab\u30eb\u306a\u7279\u5fb4(Spin Image\u30844PCS\u306a\u3069)\u3092\u7528\u3044\u3066\u5927\u57df\u7684\u306b\u30ec\u30b8\u30b9\u30c8\u30ec\u30fc\u30b7\u30e7\u30f3\u3059\u308b\u624b\u6cd5\u306a\u3069\u591a\u69d8\u306a\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u304c\u63d0\u6848\u3055\u308c\u3066\u3044\u307e\u3059\u304c\uff0c\u30b0\u30ed\u30fc\u30d0\u30eb\u201d\u6700\u9069\u201d\u306a\u70b9\u7fa4\u306e\u30ec\u30b8\u30b9\u30c8\u30ec\u30fc\u30b7\u30e7\u30f3\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306f\u3042\u307e\u308a\u63d0\u6848\u3055\u308c\u3066\u3044\u307e\u305b\u3093\u3067\u3057\u305f\uff0e 2013 ICCV,2015 PAMI\u306e\u8ad6\u6587\u3067\u30b0\u30ed\u30fc\u30d0\u30eb\u6700\u9069\u306aICP\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0Go-ICP\u304c\u767a\u8868\u3055\u308c\u307e\u3057\u305f\uff0e\u8a73\u3057\u304f\u306f\u30b9\u30e9\u30a4\u30c9\u3067\u89e3\u8aac\u3057\u3066\u3044\u307e\u3059\u304c\uff0cBranch and Bound(\u5206\u679d\u9650\u5b9a)\u3068Voxel ICP\u306e\u7d44\u307f\u5408\u308f\u305b\u3067\u52b9\u7387\u7684\u306bSE(3)\u306e6\u81ea\u7531\u5ea6\u30d1\u30e9\u30e1\u30fc\u30bf\u7a7a\u9593\u304b\u3089\u6700\u9069\u306a\u89e3\u3092\u63a2\u3057\u307e\u3059\uff0e \u8457\u8005\u306e\u30da\u30fc\u30b8\u306b\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u304c\u516c\u958b\u3055\u308c\u3066\u3044\u307e\u3059\u306e\u3067\u7c21\u5358\u306b\u8a66\u3059\u3053\u3068\u304c\u3067\u304d\u307e\u3059\uff0e\u516c\u958b\u3055\u308c\u3066\u3044\u308b\u30bd\u30fc\u30b9\u306f\u30c6\u30ad\u30b9\u30c8\u30d5\u30a1\u30a4\u30eb\u304b\u3089\u70b9\u7fa4\u30c7\u30fc\u30bf\u3092\u8aad\u307f\u8fbc\u3093\u3067\u59ff\u52e2\u3092\u30c6\u30ad\u30b9\u30c8\u30d5\u30a1\u30a4\u30eb\u3067\u66f8\u304d\u51fa\u3059\u4ed5\u69d8\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u304c\uff0c\u5916\u90e8\u30e9\u30a4\u30d6\u30e9\u30ea\u306e\u4f9d\u5b58\u304c\u306a\u304f\u7c21\u5358\u306bMatlab\u306emex\u95a2\u6570\u3092\u4f5c\u6210\u3067\u304d\u307e\u3059\u306e\u3067\uff0c\u3044\u308d\u3044\u308d\u70b9\u7fa4\u3092\u5909\u3048\u3066\u8a66\u3057\u305f\u3044\u5834\u5408\u306fmex\u5316\u304c\u30aa\u30b9\u30b9\u30e1\u3067\u3059\uff0e","og:url":"https:\/\/d-itlab.co.jp\/en\/blog\/20160310\/","og:image":"https:\/\/d-itlab.co.jp\/wp-content\/uploads\/2025\/07\/itlab_OGP.jpg","og:image:secure_url":"https:\/\/d-itlab.co.jp\/wp-content\/uploads\/2025\/07\/itlab_OGP.jpg","og:image:width":1200,"og:image:height":630,"article:published_time":"2016-03-10T03:09:37+00:00","article:modified_time":"2026-03-10T03:12:00+00:00","twitter:card":"summary_large_image","twitter:title":"Go-ICP \u30b0\u30ed\u30fc\u30d0\u30eb\u6700\u9069\u306aICP -Globally optimal ICP(2015 PAMI)-\u306e\u89e3\u8aac - \u682a\u5f0f\u4f1a\u793e\u30c7\u30f3\u30bd\u30fc\u30a2\u30a4\u30c6\u30a3\u30fc\u30e9\u30dc\u30e9\u30c8\u30ea","twitter:description":"\u5148\u65e5\u793e\u5185\u306e\u52c9\u5f37\u4f1a\u3067\uff0c\u30b0\u30ed\u30fc\u30d0\u30eb\u6700\u9069\u306aIterative Closest Point(ICP)\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u201dGo-ICP\u201d\u306b\u3064\u3044\u3066\u7d39\u4ecb\u3057\u307e\u3057\u305f\uff0e ICP\u306f\u6709\u540d\u306a\u3068\u3053\u308d\u3067\u306fKinect Fusion\u306a\u3069\uff0c3\u6b21\u5143\u70b9\u7fa4\u306e\u30ec\u30b8\u30b9\u30c8\u30ec\u30fc\u30b7\u30e7\u30f3\u306b\u5e83\u304f\u7528\u3044\u3089\u308c\u3066\u3044\u307e\u3059\uff0e\u57fa\u672c\u7684\u306b\u306f\uff0c\u6700\u8fd1\u508d\u70b9\u306e\u5bfe\u5fdc\u4ed8\u3051\u3068\u59ff\u52e2(\u4e26\u9032\u3068\u56de\u8ee2)\u306e\u63a8\u5b9a\u3092\u9806\u6b21\u7e70\u308a\u8fd4\u3057\u3066\u3044\u304f\u3053\u3068\u3067\uff0c\u70b9\u7fa4\u9593\u306e2\u4e57\u8aa4\u5dee\u3092\u6700\u5c0f\u306b\u3059\u308b\u3088\u3046\u306a\u59ff\u52e2\u3092\u898b\u3064\u3051\u3088\u3046\u3068\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3067\u3059\uff0e ICP\u306f\u539f\u7406\u4e0a\uff0c\u70b9\u7fa4\u9593\u306e\u59ff\u52e2\u304c\u3042\u308b\u7a0b\u5ea6\u96e2\u308c\u308b\u3068\u5c40\u6240\u89e3\u306b\u9665\u3063\u3066\u3057\u307e\u3044\u6b63\u3057\u304f\u30ec\u30b8\u30b9\u30c8\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u304d\u306a\u3044\u3068\u3044\u3046\u8ab2\u984c\u304c\u3042\u308a\u307e\u3059\uff0e \u305d\u3053\u3067\uff0c\u5c40\u6240\u6027\u3092\u6539\u5584\u3057\u305f\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0(SoftAssign \u306a\u3069)\u3084\uff0c\u30ed\u30fc\u30ab\u30eb\u306a\u7279\u5fb4(Spin Image\u30844PCS\u306a\u3069)\u3092\u7528\u3044\u3066\u5927\u57df\u7684\u306b\u30ec\u30b8\u30b9\u30c8\u30ec\u30fc\u30b7\u30e7\u30f3\u3059\u308b\u624b\u6cd5\u306a\u3069\u591a\u69d8\u306a\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u304c\u63d0\u6848\u3055\u308c\u3066\u3044\u307e\u3059\u304c\uff0c\u30b0\u30ed\u30fc\u30d0\u30eb\u201d\u6700\u9069\u201d\u306a\u70b9\u7fa4\u306e\u30ec\u30b8\u30b9\u30c8\u30ec\u30fc\u30b7\u30e7\u30f3\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306f\u3042\u307e\u308a\u63d0\u6848\u3055\u308c\u3066\u3044\u307e\u305b\u3093\u3067\u3057\u305f\uff0e 2013 ICCV,2015 PAMI\u306e\u8ad6\u6587\u3067\u30b0\u30ed\u30fc\u30d0\u30eb\u6700\u9069\u306aICP\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0Go-ICP\u304c\u767a\u8868\u3055\u308c\u307e\u3057\u305f\uff0e\u8a73\u3057\u304f\u306f\u30b9\u30e9\u30a4\u30c9\u3067\u89e3\u8aac\u3057\u3066\u3044\u307e\u3059\u304c\uff0cBranch and Bound(\u5206\u679d\u9650\u5b9a)\u3068Voxel ICP\u306e\u7d44\u307f\u5408\u308f\u305b\u3067\u52b9\u7387\u7684\u306bSE(3)\u306e6\u81ea\u7531\u5ea6\u30d1\u30e9\u30e1\u30fc\u30bf\u7a7a\u9593\u304b\u3089\u6700\u9069\u306a\u89e3\u3092\u63a2\u3057\u307e\u3059\uff0e \u8457\u8005\u306e\u30da\u30fc\u30b8\u306b\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u304c\u516c\u958b\u3055\u308c\u3066\u3044\u307e\u3059\u306e\u3067\u7c21\u5358\u306b\u8a66\u3059\u3053\u3068\u304c\u3067\u304d\u307e\u3059\uff0e\u516c\u958b\u3055\u308c\u3066\u3044\u308b\u30bd\u30fc\u30b9\u306f\u30c6\u30ad\u30b9\u30c8\u30d5\u30a1\u30a4\u30eb\u304b\u3089\u70b9\u7fa4\u30c7\u30fc\u30bf\u3092\u8aad\u307f\u8fbc\u3093\u3067\u59ff\u52e2\u3092\u30c6\u30ad\u30b9\u30c8\u30d5\u30a1\u30a4\u30eb\u3067\u66f8\u304d\u51fa\u3059\u4ed5\u69d8\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u304c\uff0c\u5916\u90e8\u30e9\u30a4\u30d6\u30e9\u30ea\u306e\u4f9d\u5b58\u304c\u306a\u304f\u7c21\u5358\u306bMatlab\u306emex\u95a2\u6570\u3092\u4f5c\u6210\u3067\u304d\u307e\u3059\u306e\u3067\uff0c\u3044\u308d\u3044\u308d\u70b9\u7fa4\u3092\u5909\u3048\u3066\u8a66\u3057\u305f\u3044\u5834\u5408\u306fmex\u5316\u304c\u30aa\u30b9\u30b9\u30e1\u3067\u3059\uff0e","twitter:image":"https:\/\/d-itlab.co.jp\/wp-content\/uploads\/2025\/07\/itlab_OGP.jpg"},"aioseo_meta_data":{"post_id":"1409","title":"#post_title #separator_sa #site_title","description":"#post_excerpt","keywords":null,"keyphrases":{"focus":{"keyphrase":"","score":0,"analysis":{"keyphraseInTitle":{"score":0,"maxScore":9,"error":1}}},"additional":[]},"primary_term":null,"canonical_url":null,"og_title":null,"og_description":null,"og_object_type":"default","og_image_type":"default","og_image_url":null,"og_image_width":null,"og_image_height":null,"og_image_custom_url":null,"og_image_custom_fields":null,"og_video":"","og_custom_url":null,"og_article_section":null,"og_article_tags":null,"twitter_use_og":false,"twitter_card":"default","twitter_image_type":"default","twitter_image_url":null,"twitter_image_custom_url":null,"twitter_image_custom_fields":null,"twitter_title":null,"twitter_description":null,"schema":{"blockGraphs":[],"customGraphs":[],"default":{"data":{"Article":[],"Course":[],"Dataset":[],"FAQPage":[],"Movie":[],"Person":[],"Product":[],"ProductReview":[],"Car":[],"Recipe":[],"Service":[],"SoftwareApplication":[],"WebPage":[]},"graphName":"BlogPosting","isEnabled":true},"graphs":[]},"schema_type":"default","schema_type_options":null,"pillar_content":false,"robots_default":true,"robots_noindex":false,"robots_noarchive":false,"robots_nosnippet":false,"robots_nofollow":false,"robots_noimageindex":false,"robots_noodp":false,"robots_notranslate":false,"robots_max_snippet":"-1","robots_max_videopreview":"-1","robots_max_imagepreview":"large","priority":null,"frequency":"default","local_seo":null,"breadcrumb_settings":null,"limit_modified_date":false,"ai":{"faqs":[],"keyPoints":[],"titles":[],"descriptions":[],"socialPosts":{"email":[],"linkedin":[],"twitter":[],"facebook":[],"instagram":[]}},"created":"2026-03-10 03:09:37","updated":"2026-03-10 03:12:01","seo_analyzer_scan_date":null,"focus_keyword":null,"additional_keywords":null,"truseo_locale":null},"aioseo_breadcrumb":"<div class=\"aioseo-breadcrumbs\"><span class=\"aioseo-breadcrumb\">\n\t\t\t<a href=\"https:\/\/d-itlab.co.jp\" title=\"Home\">Home<\/a>\n\t\t<\/span><span class=\"aioseo-breadcrumb-separator\">&raquo;<\/span><span class=\"aioseo-breadcrumb\">\n\t\t\t<a href=\"https:\/\/d-itlab.co.jp\/en\" title=\"\u6280\u8853\u8005\u30d6\u30ed\u30b0\">\u6280\u8853\u8005\u30d6\u30ed\u30b0<\/a>\n\t\t<\/span><span class=\"aioseo-breadcrumb-separator\">&raquo;<\/span><span class=\"aioseo-breadcrumb\">\n\t\t\t<a href=\"https:\/\/d-itlab.co.jp\/en\/category\/round-lecture\/\" title=\"Seminar\">Seminar<\/a>\n\t\t<\/span><span class=\"aioseo-breadcrumb-separator\">&raquo;<\/span><span class=\"aioseo-breadcrumb\">\n\t\t\tGo-ICP \u30b0\u30ed\u30fc\u30d0\u30eb\u6700\u9069\u306aICP -Globally optimal ICP(2015 PAMI)-\u306e\u89e3\u8aac\n\t\t<\/span><\/div>","aioseo_breadcrumb_json":[{"label":"Home","link":"https:\/\/d-itlab.co.jp"},{"label":"\u6280\u8853\u8005\u30d6\u30ed\u30b0","link":"https:\/\/d-itlab.co.jp\/en"},{"label":"Seminar","link":"https:\/\/d-itlab.co.jp\/en\/category\/round-lecture\/"},{"label":"Go-ICP \u30b0\u30ed\u30fc\u30d0\u30eb\u6700\u9069\u306aICP -Globally optimal ICP(2015 PAMI)-\u306e\u89e3\u8aac","link":"https:\/\/d-itlab.co.jp\/en\/blog\/20160310\/"}],"jetpack_sharing_enabled":true,"jetpack_featured_media_url":"","_links":{"self":[{"href":"https:\/\/d-itlab.co.jp\/wp-json\/wp\/v2\/posts\/1409","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/d-itlab.co.jp\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/d-itlab.co.jp\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/d-itlab.co.jp\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/d-itlab.co.jp\/wp-json\/wp\/v2\/comments?post=1409"}],"version-history":[{"count":1,"href":"https:\/\/d-itlab.co.jp\/wp-json\/wp\/v2\/posts\/1409\/revisions"}],"predecessor-version":[{"id":1410,"href":"https:\/\/d-itlab.co.jp\/wp-json\/wp\/v2\/posts\/1409\/revisions\/1410"}],"wp:attachment":[{"href":"https:\/\/d-itlab.co.jp\/wp-json\/wp\/v2\/media?parent=1409"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/d-itlab.co.jp\/wp-json\/wp\/v2\/categories?post=1409"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/d-itlab.co.jp\/wp-json\/wp\/v2\/tags?post=1409"},{"taxonomy":"kind_blog","embeddable":true,"href":"https:\/\/d-itlab.co.jp\/wp-json\/wp\/v2\/kind_blog?post=1409"},{"taxonomy":"member","embeddable":true,"href":"https:\/\/d-itlab.co.jp\/wp-json\/wp\/v2\/member?post=1409"},{"taxonomy":"keyword_tech","embeddable":true,"href":"https:\/\/d-itlab.co.jp\/wp-json\/wp\/v2\/keyword_tech?post=1409"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}