A point-to-plane registration algorithm for orthogonal transformations

The key point of the ICP algorithm is the search of either an orthogonal or affine transformations, which is the best in sense of the quadratic metric to combine two point clouds with a given correspondence between points. The point-toplane metric performs better than the point-point metric in terms of the accuracy and convergence rate. A closed-form solution to the point-to-plane case for orthogonal transformations is an open problem. In this presentation, we propose an approximation of the closed-form solution to the point-to-plane problem for orthogonal transformations.

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