Iterative Closest Point

• Start from initial guess
• Iterate
• For each point on M, find closest point on P
• Find best transform for this correspondence Transform M
• Good initial guess → Converges to global minimum
• The ICP is applicable when we have a relatively good starting point in advance.
• Otherwise, it will be trapped into the first local minimum and the solution will be useless.
• Without pose information, ICP-based approaches are unable to recover the proper transformations because of the ambiguity in surface matching.
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