Stochastic global optimization for robust point set registration
Computer Vision and Image Understanding
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In this paper we propose CUDA-based implementations of two 3D point sets registration algorithms: Soft assign and EM-ICP. Both algorithms are known for being time demanding, even on modern multi-core CPUs. Our GPUbased implementations vastly outperform CPU ones. For instance, our CUDA EM-ICP aligns 5000 points in less than 7 seconds on a GeForce 8800GT, while the same implementation in OpenMP on an Intel Core 2 Quad would take 7 minutes.