Interactive closest Point

• Minimizes the distance between two point clouds.
• Algorithm:
  1. For each point in the source point cloud, match the closest point in the reference point cloud.
  2. Estimate the combination of rotation and translation between the two point clouds minimizing the root mean square point to point distance. Optional: weight points and reject outliers prior to alignment.
  3. Transform the source points using the obtained transformation in Step 2.
  4. Iterate again from Step 1.