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I want to find a template - defined by 5 coplanar, non-collinear points - within a point cloud of say 100 3D points, in the most efficient way possible.

I know there is the ICP (Iterative Closest Point) algorithm for these types of problems but I am unsure if it's the best way to go for a template with such few points.

Thanks.

jellybean
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    What do you mean by a "template"? Are you just trying to fit a plane (or some other shape) to your "cloud" of 100 points? – bubba Jun 19 '13 at 04:52
  • The template is basically a cloud of 5 coplanar, non-collinear points in a rigid geometric configuration – jellybean Jun 19 '13 at 13:32

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