GLOBAL SEARCH

Find consensus among outliers

Each step proposes rigid transforms from compatible point pairs. The pose with the most geometric support survives.

Scan outliers28%

Step to test 36 pair hypotheses. Green points support the current best pose.

Hypotheses: 0
Inliers: —
Pose θ / t: 0.0° / 0.00

Target map Moving scan

PAIR-CONGRUENCE SEARCH

Ready — test the first batch

Pair segments show the latest proposal; the outlined pose is the best so far.

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FRAME REGISTRATION · LIVE LAB

Three ways to align a scan

This page becomes interactive when JavaScript is enabled. The rust cloud is the fixed map and the blue cloud is the moving scan.

RANSAC

Samples compatible pairs, scores their consensus, and keeps the strongest rigid pose.

ICP

Alternates nearest-neighbour matching with a closed-form least-squares rigid fit.

NDT

Fits local Gaussian cells to the map and explores a point-to-cell score by translation-only direct search.

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