Output details

4-points congruent sets for robust pairwise surface registration

<26> Solves a long standing problem (~20 years) in geometric registration by proposing an optimal algorithm for aligning a pair of scans, in arbitrary initial poses. Surprisingly, instead of looking for corresponding triplet of points, working with coplanar 4-point sets simplifies the problem. The approach has a linear complexity in the number of points instead of state-of-the-art quadratic approaches. The method has since been integrated in several open source software including MeshLab. The original code has been used across many disciplines at different universities with near 100 reported code uses.