a novel algorithm for fast tracking of generic objects in videos. The algorithm uses two components: a detector that makes use of the generalised Hough transform with pixel-based descr iptors, and a probabilistic segmentation method based on global m

点云配准过程，就是求一个两个点云之间的旋转平移矩阵（rigid transform or euclidean transform 刚性变换或欧式变换），将源点云(source cloud)变换到目标点云(target cloud)相同的坐标系下。(Matching of two sets oPoint cloud registration process, is to get a two point cloud between the translation and rotation matri