Iterative Closest Point,
presented by M.T. Hajiaghayi
Weighting the pairs
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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'
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