SGP | UCLSuper4PCS: Fast Global Pointcloud Registration via Smart Indexing Nicolas Mellado1 Dror Aiger2 Niloy J. Mitra1 1University College London, 2Google Inc. 12th Symposium on Geometry Processing (2014) Figure 1: We present Super4PCS, an optimal linear time output-sensitive global alignment algorithm that registers a pair of raw pointclouds in arbitrary initial poses. This example is particularly challe
