Global optimality for point set registration using semidefinite programming
In this paper we present a study of global optimality conditions for Point Set Registration (PSR) with missing data. PSR is the problem of aligning multiple point clouds with an unknown target point cloud. Since non-linear rotation constraints are present the problem is inherently non-convex and typically relaxed by computing the Lagrange dual, which is a Semidefinite Program (SDP). In this work w