Here we provide robustness test data and code used in Section 5.3 of our ECCV paper. Please run "TestRobust.m" in Matlab to see the registration in action.

Although counter-intuitive, KC registration seems to be very robust to uniformly distributed outliers. However, ICP falls victim to these outlier perturbations quite easily. The following are two examples, in one of which ICP failed.  KC registration is much more robust than ICP in this test.