Fast Global Registration

@inproceedings{Zhou2016FastGR,
  title={Fast Global Registration},
  author={Qian-Yi Zhou and Jaesik Park and Vladlen Koltun},
  booktitle={European Conference on Computer Vision},
  year={2016}
}
We present an algorithm for fast global registration of partially overlapping 3D surfaces. The algorithm operates on candidate matches that cover the surfaces. A single objective is optimized to align the surfaces and disable false matches. The objective is defined densely over the surfaces and the optimization achieves tight alignment with no initialization. No correspondence updates or closest-point queries are performed in the inner loop. An extension of the algorithm can perform joint… 

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