Given RGBD Images and a model of the object, segment, reconstruct and estimate 6DOF pose of the object.

1. Change the flags in Wrapper.m as needed.
2. By default, the code runs uses Liquid Container dataset (change folder name if needed).
3. By default, the code uses sub-sampling, truncation and point to plane method, does not display all iteration and save video.

You can find the report here.

1. Arun, K. Somani, Thomas S. Huang, and Steven D. Blostein, Leastsquares fitting of two 3-D point sets, IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 5, pp. 698–700, 1987.
2. Low, Kok-Lim, Linear least-squares optimization for point-to-plane icp surface registration, University of North Carolina Chapel Hill, Vol. 4, 2004.
3. Rusinkiewicz, Szymon, and Marc Levoy, Efficient variants of the ICP algorithm, Proceedings of 3-D Digital Imaging and Modeling, 2001.