<DIV>Hello all,</DIV> <DIV> </DIV> <DIV>Can any body let me know how exactly Iterativeclosestpoint2 works with out knowing the correspondence points? I Understood that the iteration starts by the predefined initiated transform,and it will continue until it reaches the convergence criterion!!!but how?</DIV> <DIV>I mean how the optimizer works without knowing the correspondence points?How the error is calculated?</DIV> <DIV>I have some problem with the concept of this point set registration!!!!!!!!!!!</DIV> <DIV>Any help is appreciated.</DIV> <DIV> </DIV> <DIV>Thank in advance,</DIV> <DIV>Alireza</DIV><p> 
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