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The problem of aligning of 3D point data is the known registration task. The most popular registration algorithm is the Iterative Closest Point (ICP). This paper proposes a new algorithm for affine registration of point clouds by incorporating the affine transformation into the point-to-plane ICP algorithm. At each iterative step of the algorithm, a closed-form solution for the affine transformation is derived.
Makovetskii et al. (Sun,) studied this question.