Robust iterative closest point algorithm based on global reference point for rotation invariant registration
Fig 5
Comparison of two registration algorithms for Deer in which rotation angles are 90°, 120°, 150° and 180° (from up to down).
(a) Point sets before registration. (b) Registration results of ICP. (c) The intermediate results of our algorithm when the weight of the rotation invariant is large. (d) Registration results of our algorithm.