Based on Super4PCS algorithm, but it uses tetrahedral 4 points instead of planar 4 points. This will significantly decrease the number of extracted congruent pointsets, and may decrease the time cost of CSV(Congruent Set Verification), which is the most time-consuming part of Super4PCS.
See more at: http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?articleid=2661873
But you need an ASME subscriber account or access to the database to get this paper.
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