RGBD Point Cloud Alignment Using Lucas-Kanade Data Association and Automatic Error Metric Selection.

We propose to overcome a significant limitation of the iterative closest point (ICP) algorithm used by KinectFusion, namely, its sole reliance upon geometric information. Our approach uses both geometric and color information in a direct manner that uses all the data in order to accurately estimate camera pose. Data association is performed by Lucas-Kanade to compute an affine warp between the col...