Iterative Closest (Corresponding) Point(ICP)
MohammadTaghi Hajiaghayi
hajiagha@lcs.theory.mit.edu
Weighting the pairs
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Constant Weight
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Assigning lower weights to pairs with greater distance,
e.g. w(p, p')= 1- dist(p,p')/maxdist
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Weighting based on compatibility of normals (or colors),
e.g. w(p,p')= n. n'
Rejecting pairs
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Normal-spacesampling for smooth meshes with sparse featres
such as two incised plane
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Overall speed depends most on choice of matching algorithm
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Combination of variants can align two images faster.