How to detect ICP failures?

[boeboe26]

Hi everyone!

First of all, I would like to thank all contributors! It's an awesome library!

We have a nasty problem. Due to quick motions and slow framerates, it's really hard to register our RGBD images. ICP fitness seems unable to distinguish large motions/ low overlap with stitching failures. The fitness score can be low in both cases. If we threshold the fitness score, we either cause lots of unnecessary stitching failures or increase the risk of a stitching failure with devastating results.

Is there a method that can identify stitching failures more robustly?

Thank you for your help.