The change of the correspondence and the outliers in the iteration.

The leftmost figure is the initial point sets with 98 points in the model point set (blue pluses) and 196 points in the scene point set (red circles). The right six figures are the correspondence and the distribution of the outliers in the iterations of 1, 3, 5, 10, 20 and 50 times of our method. The corresponding point pairs are connected by green lines, and the other points are the outliers.