[Insight-users] Question about ICP convergence

[José Santamaría López]

Hi all,

  I have tested the ICP algorithm for several point
sets and noticed how, in some executions of the method,
the value of the error metric increases in (aprox.) first
five iterations and, after that, it turns and decreases
for remaining iterations, achieving a good registration ...
Is it a correct behaviour ? The author of the original
ICP proposal demonstrated the monotonic behaviour of the
method.

Thanks all.