The document discusses GPU implementations of 3D point set registration algorithms including Softassign, EM-ICP, and weighted Horn's method. It finds that EM-ICP runs 60 times faster on a GPU compared to CPU and can align 5000 points within 7 seconds, making it more robust than CPU-based ICP. The implementations allow registration of up to 8000 points depending on GPU memory. Limitations include inefficient stopping conditions and a fixed number of iterations.
The document discusses GPU implementations of 3D point set registration algorithms including Softassign, EM-ICP, and weighted Horn's method. It finds that EM-ICP runs 60 times faster on a GPU compared to CPU and can align 5000 points within 7 seconds, making it more robust than CPU-based ICP. The implementations allow registration of up to 8000 points depending on GPU memory. Limitations include inefficient stopping conditions and a fixed number of iterations.